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Is there a way to download a folder from Sharepoint using Power Automate Desktop?

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There are a couple of ways to do it.

The easiest way is if you have the OneDrive app installed on your machine, you can use it to sync a directory to your local machine. You can then simply use the Copy folder action under the "Folder" actions group in PAD to download the entire folder. This is because when the OneDrive app syncs a directory locally, it will essentially make it look as if the folder was already in the file system. So, you can use the "Folder" actions. But this relies to the OneDrive app running properly.

Another alternative is using the "SharePoint" actions group. If you know the specific folder you want to copy, you can use List folder to list all files in it. And then you would need to use a loop to process each of them individually and then use Get file content or Get file content using path. This will give you the contents of the current file. The contents will be binary data that you can use to create a file on your local file system using the Convert binary data to file action. This will essentially let you copy all files within a SharePoint folder to a local folder.

If you want to do this dynamically for folders, you will need to use List folder on the parent directory and process folders first. You can use the .IsFolder property of an element in the response from List folder to check if the current item is a file or a folder. If it's a folder, you can create a folder with the same name dynamically on the local file system using Create folder.