Export Trajectory Plan Skill

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.