---
title: "Create Trajectory"
method: POST
path: "/trajectories/"
tags: ["Trajectory"]
---

# Create Trajectory

`POST /trajectories/`

Creates a new trajectory in the scene.

## Request body

- TrajectoryData
  - `name` string — Name of the trajectory to create
  - `parent_prim_path` string — Parent prim path where the trajectories have to be created
  - `poses` array[] — List of cartesian poses to traverse (example: colored triangle)
    - number[]
  - `options` TrajectoryOptions
    - `color` array[] — Color of the trajectory. Either a single RGB tuple for uniform color, or a list of RGB tuples for per-segment colors
      - unknown[]
        - unknown
    - `width` union — Width of the trajectory in mm. Either a single value for uniform width, or a list of values for per-segment widths
      - number
      - number[]
  - `container_pose` number[], nullable — Visualization-only local transform ([x, y, z, rx, ry, rz], mm + rotation vector) authored on the trajectory container xform, so the curve (whose waypoints are in the robot link_0 frame) lands correctly under its parent prim. Encodes link_0-relative-to-parent plus any external-axis offset. Does not affect the planned motion.

## Response `201`

Successful Response

- TrajectoryObject
  - `name` string, required — Name of the trajectory
  - `path` string, required — Prim path of the trajectory
  - `poses` array[], required — List of cartesian poses to traverse
    - number[]
  - `options` TrajectoryOptions, required
    - `color` array[] — Color of the trajectory. Either a single RGB tuple for uniform color, or a list of RGB tuples for per-segment colors
      - unknown[]
        - unknown
    - `width` union — Width of the trajectory in mm. Either a single value for uniform width, or a list of values for per-segment widths
      - number
      - number[]

## Other responses

- `409` — Trajectory already exists
- `422` — Validation Error
- `500` — Trajectory could not be created

## Changes

- **2026-09-08** `bed4f7092b75` — 1 info
  - added the new optional request property `container_pose`

[Change history](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/changes/trajectories/post.md)

---

[API](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api.md) · [All operations](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/llms.txt) · [OpenAPI document](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/revisions/f4e4cbd85f5b?raw)