---
title: "Export Trajectory Plans"
method: GET
path: "/trajectory-planner/export"
tags: ["Trajectory Planner"]
---

# Export Trajectory Plans

`GET /trajectory-planner/export`

Export all trajectory planner skills as NOVA-compatible planning requests.

## Response `200`

Trajectory plans exported with NOVA-compatible requests grouped by skill.

- ExportedTrajectoryPlan
  - `skills` ExportedSkill[]
    - `name` string, required
    - `version` string
    - `robot_prim_path` string, nullable
    - `tcp_name` string, nullable
    - `collision_setup` string, nullable
    - `type` 'plan_trajectory' | 'plan_collision_free'
    - `plan_trajectory_request` object, nullable
    - `plan_segmented_trajectory` SegmentedTrajectoryPlan — A segmented trajectory plan plus the shared settings to merge the segments. Because a ``PlanTrajectoryRequest`` carries a single TCP, a multi-TCP skill is exported as one segment per contiguous same-TCP run. To reconstruct the motion, a consumer plans each segment's ``plan_trajectory_request`` into a ``JointTrajectory`` and then calls the ``mergeTrajectories`` endpoint:: MergeTrajectoriesRequest( motion_group_setup=motion_group_setup, trajectory_segments=[ MergeTrajectoriesSegment( trajectory=<planned jt for segment i>, blending=segments[i].blending, limits_override=limits_override, collision_setups=collision_setups, ) for i in range(len(segments)) ], ) ``limits_override`` and ``collision_setups`` are shared across all segments.
      - `motion_group_setup` object, required
      - `limits_override` object, nullable
      - `collision_setups` object, nullable
      - `segments` PlanTrajectorySegment[]
        - `tcp_name` string, nullable
        - `plan_trajectory_request` object, required
        - `blending` object, nullable
    - `plan_collision_free_requests` object[], nullable
    - `metadata` SkillMetadata
      - `motion_group_prim_path` string, nullable
      - `scene_path` string, nullable
      - `poses` PoseMetadata[]
        - `prim_path` string, required

---

[API](https://skmtc.net/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api.md) · [All operations](https://skmtc.net/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/wandelbotsgmbh/wandelbots-nova-isaac-sim-extension-api/versions/a0efd7dad77c/schema)