how to get the states of other objects in model plugin

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Thank you for the answer. I will grab the model states in the world plugin and also add a contact sensor to each object. That said, I'm surprised that there was not an existing way for each object to get the states of the world (static surface and other objects) easily. I thought this was the basic input to the motion planning and control components. Or are most people using ROS to subscribe/publish messages anyways?

There are many ways for models to find information about the world, you can even do it from a model plugin, just get the world pointer with `model->GetWorld()` and you can do anything you can with a world plugin. It's just not recommended because this will be repeated for each model that has the plugin, while if you put the logic in a world plugin it only gets loaded once.

I see. I'll use model->GetWorld() to get other model states. I agree with your point - we apply the logic at right places only. Thank you so much!