diff --git a/src-tauri/src/main.rs b/src-tauri/src/main.rs
index 8cf16d5014..f5b1b5a1e2 100644
--- a/src-tauri/src/main.rs
+++ b/src-tauri/src/main.rs
@@ -65,6 +65,7 @@ enum ChoreoConstraintScope {
 enum Constraints {
   WptVelocityDirection{scope: ChoreoConstraintScope, direction:f64},
   WptZeroVelocity{scope: ChoreoConstraintScope},
+  StopPoint{scope: ChoreoConstraintScope},
   MaxVelocity{scope: ChoreoConstraintScope, velocity:f64},
   ZeroAngularVelocity{scope: ChoreoConstraintScope},
   StraightLine{scope:ChoreoConstraintScope}
@@ -139,6 +140,12 @@ async fn generate_trajectory(path: Vec<ChoreoWaypoint>, config: ChoreoRobotConfi
               path_builder.wpt_linear_velocity_max_magnitude(fix_scope(idx[0], &rm), 0.0f64);
             },_=>{}}
         },
+        Constraints::StopPoint { scope } => {
+          match scope { ChoreoConstraintScope::Waypoint(idx) => {
+              path_builder.wpt_linear_velocity_max_magnitude(fix_scope(idx[0], &rm), 0.0f64);
+              path_builder.wpt_angular_velocity(fix_scope(idx[0], &rm), 0.0);
+            },_=>{}}
+        },
         Constraints::MaxVelocity { scope , velocity} => {
           match scope { ChoreoConstraintScope::Waypoint(idx) => {
               path_builder.wpt_linear_velocity_max_magnitude(fix_scope(idx[0], &rm), *velocity)
diff --git a/src/document/ConstraintStore.tsx b/src/document/ConstraintStore.tsx
index d06dc0720d..f543d200db 100644
--- a/src/document/ConstraintStore.tsx
+++ b/src/document/ConstraintStore.tsx
@@ -7,6 +7,7 @@ import {
   KeyboardDoubleArrowRight,
   PriorityHigh,
   Stop,
+  StopCircleOutlined,
   SyncDisabledOutlined,
   Timeline,
 } from "@mui/icons-material";
@@ -94,6 +95,15 @@ export const constraints = {
     wptScope: true,
     sgmtScope: false,
   },
+  StopPoint: {
+    name: "Stop Point",
+    shortName: "Stop Point",
+    description: "Zero linear and angular velocity at waypoint",
+    icon: <StopCircleOutlined></StopCircleOutlined>,
+    properties: {},
+    wptScope: true,
+    sgmtScope: false,
+  },
   MaxVelocity: {
     name: "Max Velocity",
     shortName: "Max Velo",
diff --git a/src/document/PathListStore.ts b/src/document/PathListStore.ts
index b6a994f384..5acca115c6 100644
--- a/src/document/PathListStore.ts
+++ b/src/document/PathListStore.ts
@@ -62,12 +62,8 @@ export const PathListStore = types
           name: usedName,
           waypoints: [],
         });
-        path
-          .addConstraint(ConstraintStores.WptZeroVelocity)
-          ?.setScope(["first"]);
-        path
-          .addConstraint(ConstraintStores.WptZeroVelocity)
-          ?.setScope(["last"]);
+        path.addConstraint(ConstraintStores.StopPoint)?.setScope(["first"]);
+        path.addConstraint(ConstraintStores.StopPoint)?.setScope(["last"]);
         self.paths.put(path);
         if (self.paths.size === 1 || select) {
           self.activePathUUID = newUUID;