DOCS-4335: Add world state store (#4642)

Author: npentrel

.github/workflows/parse_go.py

@@ -113,6 +113,9 @@ def parse(self, type, viam_resources):
 
         for resource in viam_resources:
 
+            if resource == "world_state_store":
+                print(f'Skipping Resource: {resource}')
+                continue
             ## Determine URL form for Go depending on type (like 'component'):
             if type in ("component", "service") and resource in go_resource_overrides:
                 url = f"{self.scrape_url}/go.viam.com/rdk/{type}s/{go_resource_overrides[resource]}"

.github/workflows/parse_python.py

@@ -141,6 +141,8 @@ def parse(self, type, viam_resources):
             ## Determine URL form for Python depending on type (like 'component'):
             if type in ("component", "service") and resource in python_resource_overrides:
                 url = f"{self.scrape_url}/autoapi/viam/{type}s/{python_resource_overrides[resource]}/client/index.html"
+            elif resource == "world_state_store":
+                url = f"{self.scrape_url}/autoapi/viam/services/worldstatestore/index.html"
             elif type in ("component", "service"):
                 url = f"{self.scrape_url}/autoapi/viam/{type}s/{resource}/client/index.html"
             elif type == "app" and resource in python_resource_overrides:

.github/workflows/parse_typescript.py

@@ -15,7 +15,8 @@
     "dataset": "Data",
     "data_sync": "Data",
     "data_manager": "DataManager",
-    "mltraining": "MlTraining"
+    "mltraining": "MlTraining",
+    "world_state_store": "WorldStateStore"
 }
 
 ## Ignore these specific APIs if they error, are deprecated, etc:

.github/workflows/sdk_protos_map.csv

@@ -319,6 +319,14 @@ vision,GetResourceName,,get_resource_name,Name,getResourceName,name
 vision,GetProperties,,get_properties,GetProperties,properties,getProperties
 vision,Close,,close,Close,,
 
+## World State Store
+world_state_store,listUUIDs,,list_uuids,,,listUUIDs
+world_state_store,GetTransform,,get_transform,,,getTransform
+world_state_store,StreamTransformChanges,,stream_transform_changes,,,streamTransformChanges
+world_state_store,DoCommand,,do_command,,,doCommand
+world_state_store,GetResourceName,,get_resource_name,,,name
+world_state_store,Close,,close,,,
+
 ## App
 app,GetUserIDByEmail,,get_user_id_by_email,GetUserIDByEmail,,getUserIDByEmail
 app,CreateOrganization,,create_organization,CreateOrganization,,createOrganization

.github/workflows/update_sdk_methods.py

@@ -23,7 +23,7 @@
 ## at runtime if desired:
 components = ["arm", "base", "board", "button", "camera", "encoder", "gantry", "generic_component", "gripper",
               "input_controller", "motor", "movement_sensor", "power_sensor", "sensor", "servo", "switch"]
-services = ["base_remote_control", "data_manager", "discovery", "generic_service", "mlmodel", "motion", "navigation", "slam", "vision"]
+services = ["base_remote_control", "data_manager", "discovery", "generic_service", "mlmodel", "motion", "navigation", "slam", "vision", "world_state_store"]
 app_apis = ["app", "billing", "data", "dataset", "data_sync", "mltraining"]
 robot_apis = ["robot"]
 
@@ -323,6 +323,11 @@
         "url": "https://raw.githubusercontent.com/viamrobotics/api/main/app/mltraining/v1/ml_training_grpc.pb.go",
         "name": "MLTrainingServiceClient",
         "methods": []
+    },
+    "world_state_store": {
+        "url": "https://raw.githubusercontent.com/viamrobotics/api/main/service/worldstatestore/v1/world_state_store_grpc.pb.go",
+        "name": "WorldStateStoreServiceClient",
+        "methods": []
     }
 }
 

docs/dev/reference/apis/services/world-state-store.md

@@ -0,0 +1,23 @@
+---
+title: "World state store API"
+linkTitle: "World state store"
+weight: 70
+type: "docs"
+tags: ["world_state_store", "services"]
+description: "Retrieve a list of world objects."
+icon: true
+images: ["/icons/components/generic.svg"]
+date: "2025-09-12"
+# updated: ""  # When the content was last entirely checked
+---
+
+The world state store service API allows you to retrieve a list of world objects.
+You can use this list to create custom visualizers to render spatial data related to a machine on the machine's **VISUALIZE** tab.
+
+The world state store service supports the following methods:
+
+{{< readfile "/static/include/services/apis/generated/world_state_store-table.md" >}}
+
+## API
+
+{{< readfile "/static/include/services/apis/generated/world_state_store.md" >}}

static/include/services/apis/generated/world_state_store-table.md

@@ -0,0 +1,9 @@
+<!-- prettier-ignore -->
+| Method Name | Description |
+| ----------- | ----------- |
+| [`listUUIDs`](/dev/reference/apis/services/vision/#close) | List all world state transform UUIDs. |
+| [`GetTransform`](/dev/reference/apis/services/vision/#close) | Get a world state transform by UUID. |
+| [`StreamTransformChanges`](/dev/reference/apis/services/vision/#close) | Stream changes to world state transforms. |
+| [`DoCommand`](/dev/reference/apis/services/vision/#close) | Execute model-specific commands that are not otherwise defined by the service API. |
+| [`GetResourceName`](/dev/reference/apis/services/vision/#close) | Get the ResourceName for this Resource with the given name. |
+| [`Close`](/dev/reference/apis/services/vision/#close) | Safely shut down the resource and prevent further use. |