Keep a MoveIt Scene Diff Scoped to the Intended Change
List intended changes
Identify the objects to add, move or remove and those that should remain. Associate each ID with the process step so two unrelated parts cannot be confused through identifier reuse.
Review message reuse
The MoveIt example clears earlier world and attached-object entries before reusing the diff for another purpose. Inspect the serialized payload to catch older entries that remain alongside the newly assigned operation.
Establish the diff boundary
Retain the scene diff flag and inspect the world and robot-state lists independently. An attachment transition can require a coordinated update to both lists, even if it represents one business operation.
Inspect recipient state
Start from a known scene and inspect both object sets before planning. If an older part remains, compare identifiers in the current and previous payloads to distinguish retained scene state from resubmission.
Retain consecutive operation samples
A single demonstration may miss state leakage. Preserve consecutive part changes or place-and-pick operations, including the expected object set and effective readback at each step.
Original documentation and further reading
Continue with related articles in this section, or use selection guides to prepare the next review. Apply the device-specific documentation and agreed operating conditions when implementing a test.