Draw trajectory under robot in real time

Another Question from myself :slight_smile:

What would you consider best practice for drawing a trajectory under a robot while it walks?

e.g. a red line.

In my case the robot is placed on a flat floor, but could traverse over other objects also, like stairs, or a hill, perhaps even a random clumb of spheres, which are not the same as the flat surface that they are on.

LineSegmentShape would come in play for that case. Create a SimpleFrame and set the shape with a LineSegmentShape adding the waypoints of the trajectory. You can change the color through VisualAspect of the SimpleFrame. Here is an example code that would be similar to what you would like to do.