WorldState

A WorldState is the argument you pass to a single Move call. It carries the obstacles and frame transforms that the motion planner should account for on that one request, and nothing else uses it. When the call returns, the WorldState is gone.

What a WorldState carries

A WorldState holds two kinds of item:

• Obstacles: geometries the planner treats as things to avoid, each expressed in a reference frame. Use them for objects that are not part of the machine’s configured frame system, such as a pallet detected at runtime.
• Transforms: frames added to the frame system for this request only. A transform can reposition where the arm moves (for example, a frame at a grasped object’s tip) or carry a geometry that travels with a component.

It applies to one request

A WorldState is per-request. The motion service uses it to plan the single motion you attach it to, then discards it. It is not stored, so a later Move call sees none of it unless you pass a WorldState again. To build obstacles and transforms and attach them to a Move call, see Define obstacles and Arm and end effector frames.

WorldState versus the world state store service

The names are similar, but the two are different things, and only one affects a plan:

• WorldState is planner input. The obstacles and transforms in it shape the motion the planner computes for one Move call.
• The world state store service is visualization output. It holds transforms that the 3D scene draws, and the planner never reads it.

The same geometry can take both paths, but they are separate: put it in a WorldState for the planner to avoid, and publish it to the world state store service for the scene to draw.