---
title: "Export Trajectory Plan Skill"
method: GET
path: "/trajectory-planner/{skill_name}/export"
tags: ["Trajectory Planner"]
---

# Export Trajectory Plan Skill

`GET /trajectory-planner/{skill_name}/export`

Export a single trajectory planner skill by name.

## Path parameters

- `skill_name` string, required

## Response `200`

Single trajectory plan skill exported with NOVA-compatible requests.

- 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

## Other responses

- `404` — Skill not found.
- `422` — Validation Error

---

[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)