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Author	SHA1	Message	Date
Marc Schier Roman Ettlinger Claude Opus 5.5	5899354441	Clarify documentation, migration guidance, and SDK selection (#4823 ) # Description Remove stock phrasing and correct misleading or inconsistent technical documentation. The initial two passes covered 367 Markdown files, followed by an interactive review of 169 editorial flags. The U5 interpretation originally deferred in that review has since received the upstream Mantis answer recorded by #4843; remaining server/spec follow-ups stay explicit in the CTT log. - Correct package responsibilities, migration steps, API names, ownership, protocol descriptions and links. Keep bundled migration guides synchronized. Preserve historical conclusions as historical records with separate re-check notes. - Provide at least two rendered TOC levels throughout `docs/`. Convert appropriate architecture figures to Mermaid without changing code examples, transcripts or historical quotations. - Address the October 19 feedback with concrete setup/migration instructions, corrected certificate paths and PubSub names, shorter repeated caveats, consistent XML comments, and a full review of the Concepts guide. Retain #4839's API corrections. - Integrate #4841's runtime/performance guidance and review incoming/recent prose. Preserve dated measurements rather than claiming new benchmark runs; clarify allocation ratios, startup-only processor settings, JIT warm-up and the benchmark commit's scope. Missing raw measurement artifacts and repeat ranges remain tracked by #4842. - Merge master through `e8c5d800a` in `32c6394b7`. Resolve the CTT log conflict using the updated Mantis states and OPC answers, retaining historical framing and re-checks for C28/C32/C43. - Address the latest naming/index feedback in `adb5bf693`: rename the guides to `docs/WotCon.md` and `docs/WotNodeSetConversion.md`; move the provider and DataType-declaration contracts into the conversion guide and remove `docs/WoT.md`. Rename `samples/DI` to `samples/Di` and `samples/Isa95` to `samples/ISA95`. Add content-index READMEs to Di, FluentApi, ISA95, Lds and PubSub; update solution entries, project references, Docker/CI paths, test fixture paths and documentation links with exact casing. WoT guide scope. This branch retains the detailed conversion guide that #4758 had replaced with an anchor stub. Conversion limits, verified document sets, preservation rules and provider ownership now live together in `WotNodeSetConversion.md`; binding/runtime guidance remains in `WotBindings.md` and `WotCon.md`. The design-rationale/test-ledger prose was shortened, the oversized argument-table cell moved into its section, and existing anchors preserved. SDK policy is a separate, explicit user-directed change. `global.json` sets a stable minimum of `10.0.400`, `rollForward: latestMajor`, and `allowPrerelease: false`. Newer major SDKs are permitted; CI's explicit SDK pins are unchanged. README, GettingStarted, DeveloperGuide and Recycling instructions reflect the possible analyzer differences. The image-contract regression fix accepts compatible stable SDK images instead of requiring exact equality with the floor. The latest four rename/index threads are resolved after publication. Three older threads remain open: universal obsolete-removal timing, unconditional nonce-strength wording, and a blanket Vision NativeAOT claim. Existing implementation/evidence constraints are explained in their inline replies. The two-level TOCs remain as requested. ## Validation - `git diff --check` and staged diff checks: passed. The untouched upstream AutoID NodeSet retains its provenance bytes, including two existing license-header trailing spaces. - `.\.azurepipelines\validate-migration-plugin.ps1`: passed; 15 bundled migration documents and manifests synchronized. - Documentation/path validation: 101 documents retain two rendered TOC levels (2,228 entries), with idempotent formatting. 52 new relative links and their anchors passed exact-case checks. No tracked references to the old guide/sample paths remain. Both relocated provider-contract sections are preserved in the destination. - `dotnet sln UA.slnx list`: passed; shows the renamed Di/ISA95 projects and the existing FluentApi/Lds/PubSub projects. Updated solution and pump ProjectReference paths also passed exact-case existence checks. - Latest focused commands, run from the repository root: ```powershell # Passed: 61 channel send-order and reconnect tests. dotnet test tests\Opc.Ua.Core.Tests\Opc.Ua.Core.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~UaSCBinaryChannelSendOrderTests\|FullyQualifiedName~TcpReconnectKeyAgreementTests' --verbosity minimal # Passed: 5 pump datasheet tests; builds the renamed pump sample. dotnet test tests\Opc.Ua.Di.Tests\Opc.Ua.Di.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~PumpDatasheetConformanceTests' --verbosity minimal # Passed: 4 repository NodeSet path/round-trip tests, including the moved pump models. dotnet test tests\Opc.Ua.Types.Tests\Opc.Ua.Types.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~RepositorySourceSurvivesSerializedLinkedPartitionsAsync' --verbosity minimal # Passed: build, zero warnings/errors. dotnet build samples\ISA95\MinimalIsa95Server\MinimalIsa95Server.csproj -p:CustomTestTarget=net10.0 -f net10.0 --verbosity minimal # Passed: dependent sample-test project build, zero warnings/errors. dotnet build tests\Opc.Ua.WotCon.Samples.Tests\Opc.Ua.WotCon.Samples.Tests.csproj -p:CustomTestTarget=net10.0 -f net10.0 --verbosity minimal ``` Earlier focused integration checks passed 2,620 tests across AutoID, event queues/scheduling, source generation, MCP/package profiles and WoT. Both reviewed Mermaid diagrams rendered locally without network access. These checks are not a full solution run. The full solution has not been rerun for this review. Earlier `dotnet test UA.slnx -p:CustomTestTarget=net10.0 --verbosity quiet` did not pass: three AOT projects rejected VSTest and 20 Vision tests failed during graphics initialization with `OutOfMemoryException`. Remaining long-running tests were stopped at the user's request. A focused Vision rerun passed 558 tests and reproduced those 20 failures. The earlier `dotnet test UA.slnx -p:CustomTestTarget=net48 --verbosity quiet` was blocked by the former SDK pin and was not retried after the policy change. The user approved proceeding with those limitations documented; current remote CI is not claimed green. ## Related Issues - Follow-up #4842 tracks the requested 2.0.2+ benchmark/tuning and diagnostic-tool documentation refresh. #4841 supplies documentation and earlier results, not all newly requested measurements. - #4758 explains the conversion guide's earlier consolidation; the current provider contracts are now consolidated into `WotNodeSetConversion.md`. - #4839 supplies the reviewed API corrections; #4843 supplies the updated CTT issue record. - The original prose cleanup and SDK policy were user-requested without a source issue. No new runtime architecture is introduced by these documentation edits. ## Checklist _Put an `x` in the boxes that apply. You can complete these step by step after opening the PR._ - [ ] I have signed the [CLA](https://opcfoundation.org/license/cla/ContributorLicenseAgreementv1.0.pdf) and read the [CONTRIBUTING](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/CONTRIBUTING.md) doc. - [ ] I have added tests that prove my fix is effective or that my feature works and increased code coverage. - [x] I have added all necessary documentation. - [ ] I have verified that my changes do not introduce (new) build or analyzer warnings. - [ ] I ran all tests locally using the UA.slnx solution against at least .net framework and .net 10, and all passed. - [ ] I fixed all failing and flaky tests in the CI pipelines and all CodeQL warnings. - [ ] I have addressed all PR feedback received. --------- Co-authored-by: Roman Ettlinger <romanett98@gmail.com> Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>	2026-10-21 10:10:55 +02:00
Marc SchierandCopilot	cef83550cb	OPC UA Vision: a vision-guided bin-picking demo an LLM agent can see and drive (#4235 ) # Description Implements OPC UA — Vision and uses it to build the demo the companion specifications were drafted for: an eye-in-hand camera watches a bin of parts, a language model looks at the frame, decides which part matches the instruction, and commands the robot through Robot Intent — with the OpenUSD viewer showing the arm move and the bin empty out. > Draft, and stacked. [#4195](https://github.com/OPCFoundation/UA-.NETStandard/pull/4195) has merged and master is merged in, so what is left on top of `master` is the Vision work plus the unmerged `marcschier/ai-model-management` branch, which the demo needs for the model/dataset/deployment provenance. Review the Vision commits; the AI Model Management work lands with its own PR. ## What is here The specification, implemented. `Opc.Ua.Vision` is generated from the spec's own `Opc.Ua.Vision.NodeSet2.xml`, vendored byte-identically (SHA-256 `79C592C6…`, verified against a fresh download and stored LF-preserved like the Robot Intent NodeSet). `Opc.Ua.Vision.Server` builds the §4.2 discovery object, sensors, the coordinate-frame tree, calibrations, media endpoints, inference pipelines and the §9 feedback methods, with rendering and inference behind injectable providers. `Opc.Ua.Vision.Client` is built on the generated ObjectType proxies and composes transforms across the frame tree, which is what turns a detection in camera coordinates into a pose a robot can act on. Two perception paths behind one contract, which is exactly what `InferenceLocationEnum` is for. `OnServer` is a deterministic detector derived from the stage's ground truth — no model, no network, no GPU, so CI can exercise the whole loop. `EdgeOffServer` is the agent: it sees the frame over MCP and calls `SubmitDetections`, and the Server publishes results it did not compute. A client reads `DetectionResultType` identically either way. The agent's eyes. `tools/Opc.Ua.Mcp.Vision` adds 22 `vision_` tools, which with the four shared connection tools makes the `vision` profile 26; `vision_get_frame` returns the camera image as an MCP `ImageContentBlock`, so the model looks at pixels rather than reading a description of them. Tool profiles now compose — `--profile vision,robotics` yields 62 tools — so one agent can both see and act without dragging in the full 136-tool catalogue. The cell.* `samples/Robotics/BinPickingCell` follows the spec's own Robotics-Vision Addendum: the `world → robot_base → flange → gripper_tcp` frame tree with `camera_eih` on the flange, the `HandEye` extrinsics and the `Intrinsics612x512` intrinsics — the addendum's 2448×2048 calibration scaled to the 4×4-binned grid the camera actually delivers. `samples/Robotics/BinPickingClient` hosts the composed MCP catalogue and optionally the viewer. Documentation. `docs/Vision.md` (~800 lines) covers the model, hosting, the build context, every topology builder, both perception paths, feedback, the MCP profile and the limitations; linked from `docs/README.md`, with the profile table in `docs/McpServer.md` and READMEs for both samples. ## Evidence, not assertions Each of these was measured on a running system rather than assumed: \| Claim \| Evidence \| \|---\|---\| \| The camera sees the bin \| 612×512 frame with the bin and all five parts in view — red `(212,47,47)`, green `(61,193,71)`, blue `(54,85,218)`, yellow `(215,196,58)`, orange `(209,119,55)` \| \| An agent can act on what it sees \| Over MCP, `vision_get_frame` returns a 612×512 PNG that decodes from base64 to 1,254,051 bytes, the descriptor beside the detections says 612×512, and all five `BoundingBox2D` centres land inside the frame on the pixel colour their own detection claims \| \| The geometry is right \| A detection composed `camera_eih → world` lands on the authored position, residual 0.0000 m — on both the on-server and off-server paths \| \| The detector tracks the world \| Placing a part drops the next scan from 5 detections to 4, with that part absent \| \| The robot obeys the agent \| Scripted run took command authority and completed a pick and a place, both `Succeeded` \| \| Tool catalogues are honest \| Counted from a running server: vision 26, robotics 40, `vision,robotics` 62, full 136, zero duplicates \| \| Every node is browsable by NodeId \| Eight representative NodeIds — both folders, a pipeline, a frame, the sensor, its Calibrations folder, the HandEye calibration, the Media folder — all `Good` \| That tool-count check matters because the profile tests collapse names into a `HashSet` and cannot see a duplicate registration — so the new tests count registrations, not names. ## Things that were wrong, and are not now Writing the tests found three defects of one kind — code that answered instead of refusing. A zero-norm quaternion was silently rewritten to identity, so a caller with an all-zero orientation got a confident wrong grasp pose. `SubmitCorrection` rewrote a null `ResultId` to empty and called the sink anyway. A bad `StageIdentifier` killed the host process inside native `UsdStage.Open`, via an exception .NET cannot catch. All three now refuse loudly and are pinned by tests. Nodes that existed but could not be reached. The node manager indexes the Vision root before configurators run, so everything the fluent builder grafted on afterwards — both folders, the pipelines with their Results and Feedback, the frames, the sensors with their optics, calibrations and media endpoints — was never added to the index. Browsing forward from a parent worked, because that walks `NodeState.Children` in memory; browsing any of those nodes by its own NodeId returned `BadNodeIdUnknown`, which is how an ordinary client and the MCP discovery tools navigate. Registration is now deferred and flushed after each configurator. The first fix covered only the DI path and left the documented non-DI fallback broken in exactly the same way, so `ConfigureVisionAsync` now exists and registers what it builds. That defect survived a green suite because every test browsed children. The new tests assert by NodeId, and were checked against the broken code — with the flush removed, they fail. Every Method was uncallable. The Server passed 426 unit tests while not one of its Methods could be invoked over a real session — `RunInference` returned `Bad_TooManyArguments`, and so did every other Method that takes arguments, which is all of them but `StartContinuous` and `Stop`. Three independent faults, each sufficient on its own: the Method nodes were never created (they are Optional children, and the dispatcher guards every attachment with a null check, so it silently attached nothing); nothing declared the arguments, so the stack concluded none were expected; and `MethodDeclarationId` pointed at a synthesised NodeId rather than the NodeSet declaration a client calls with, so the lookup missed the instance Method entirely. The builder now creates the Methods, the `Results` folder and the `Feedback` object when a provider or sink is configured, declares every signature, and names the right declaration. Unit tests could not have caught this: they invoke the handler delegates directly and never go through `MethodState.Call`. It took an end-to-end test over a real session. Relatedly, children created by the generated `CreateOrReplace` helpers carry no `ReferenceTypeId`, so nothing could reach them — fixed once in the build context rather than at the several dozen call sites. And one where I was wrong. Earlier in this branch I reversed my own agents' decision and made `SubmitDetections` accept an empty detection set, reasoning that "I looked and the bin is empty" is a correct observation and refusing it forces a correct agent to invent a detection. The reasoning is sound; it is also an argument against the specification rather than an implementation of it. §9.5 is normative and explicit — its StatusCode table lists `Bad_InvalidArgument` for "`Detections` empty; or `SubmitCorrection` supplies both or neither corrected array". Worse, none of §9.5's argument rules were enforced anywhere — the dispatcher forwarded every submission straight to the feedback sink, so conformance depended on whichever sink a host installed. They are Server obligations, so they now live in the dispatcher, ahead of the sink, proven by strict mocks that would throw if the sink were consulted. The usability problem is real and does not go away by conforming, so it is raised where it can be fixed: [opcua-drafts#70](https://github.com/marcschier/opcua-drafts/issues/70). ## Tracking the updated drafts The Vision, Robot Intent and AI Model Management NodeSets on `opcua-drafts` `main` have moved, partly because of feedback this branch raised. All three are re-vendored byte-identically — verified by comparing git blob hashes against the upstream files rather than by eye — and the implementations follow. Two statements that were previously inexpressible now have a wire representation. `SubmitDetections` takes `SceneIsEmpty` and `SubmitCorrection` takes `RetractAll`, so an agent can report "I examined this frame and there is nothing in it" — the terminating condition of the bin-picking task — and can retract a false positive by correcting a result down to nothing. Both are checked in both directions, because the flag is exactly what separates a deliberate empty observation from a lost payload: an empty array without the flag is refused, and the flag with an array attached is refused as two contradictory claims about one frame. Implemented in the dispatcher, the client, the MCP tools the agent drives, and the sample cell. Also absorbed: `LampType` and `LightingMode` became enums (§66), `ProfileName` became `DefaultProfileName` on the endpoint (distinct from the `ProfileName` a caller passes to `GetStreamEndpoint`, which keeps its name), AI `Invoke`/`InvokeAsync` gained `PayloadUri` under the same exactly-one rule, and AI `ListModels` gained a `ContinuationPoint` — because `MaxResults` alone puts everything past the bound permanently out of reach. OpenUSD is on `0.9.0-alpha`, verified on the running cell rather than by restore alone: D3D12 backend, 612×512 frame, the bin and all five parts in view and detected — the same result `0.8.0-alpha` produced. The one local workaround that survives is `VisionMethodArguments`, and its reason has changed rather than gone away: the builder materialises these Methods as Optional children through `CreateOrReplace`, which constructs the state object directly and never runs the generated factory that now carries the signatures. Checked rather than assumed — removing the declarations fails five of the eight `VisionMethodSurfaceTests`. ## Review feedback Three threads, all addressed in `0fe2803a3`: - The AI Model Management work is now a library family, not a sample. `src/Opc.Ua.AI` (model), `.Inference` (`IInferenceBackend` and backends), `.Server` (node manager) and `.Client` (discovery, reads, calls, artefact transfer), in the same shape as the Robotics and Vision families; the samples become `samples/AI/ModelManagementServer` and `ModelManagementClient`. The client library needed real work rather than relocation: its browsing surface was `private` inside the sample's scenario runner, so moving the file alone would have produced a library nobody could call. - No cloud-vendor SDK is referenced anywhere. Inference goes through `Microsoft.Extensions.AI` — an `IChatClient` is implemented by hosted services and on-device runtimes alike, which is exactly the property clause 8.1 asserts. `Azure.Identity` is gone: workload identity is not an Azure feature, every platform projects a token into a file and each SDK reads that file behind its own API, so the resolver reads it directly. The comment claiming `Microsoft.Extensions.AI` would force a `System.Text.Json` bump was stale — it pins 10.0.10, which this repository already centralises on. - `BinPickingCell` and `BinPickingClient` moved into `samples/Robotics/`, which is where they belonged: the cell was already linking the arm, its kinematics and both USD assets out of `IntentEnabledRobot`. ## Upstream Work that belonged elsewhere went elsewhere rather than being worked around locally: - `openusd-dotnet` [#13](https://github.com/marcschier/openusd-dotnet/pull/13) — merged and shipped in `0.8.0-alpha`. `SilkFrameCapture.Capture` rendered only the first capture of a session and silently returned a blank frame for every one after it. Also filed [#14](https://github.com/marcschier/openusd-dotnet/issues/14) (no camera-by-prim API) and [#15](https://github.com/marcschier/openusd-dotnet/issues/15) (skipped tests reported as passed — which fooled me for several runs). Both are fixed; this branch takes `0.8.0-alpha` and deletes two workarounds, including 143 lines of hand-rolled projection maths. - `opcua-drafts` [#66](https://github.com/marcschier/opcua-drafts/issues/66)–[#69](https://github.com/marcschier/opcua-drafts/issues/69) — a close read of the spec produced 22 candidate ambiguities; 12 were discarded as misreadings with clause citations and the remaining 10 filed. One is concrete: five members exist in the NodeId CSV that no clause documents. - `opcua-drafts` [#70](https://github.com/marcschier/opcua-drafts/issues/70) — §9.5 could not express an empty observation or a false-positive retraction. Adopted, with the explicit-flag resolution argued for: `SubmitDetections` gained `SceneIsEmpty`, `SubmitCorrection` gained `RetractAll`, and the corrected-array rule relaxed from exactly one to at most one. - `opcua-drafts` [#71](https://github.com/marcschier/opcua-drafts/issues/71) — the Vision NodeSet browse-named all 13 `InputArguments` / `OutputArguments` Properties in the Vision namespace rather than the base namespace, so a stack could not find them and every Method in the specification was uncallable. Fixed; this branch now tracks the corrected artefact. ## The defect underneath it all The end-to-end suite was removed earlier in this branch because nine of its fourteen tests failed on one symptom: a client could not open a pipeline's `Feedback` object or enumerate its `Results`, even though browsing the same parent listed both. Restoring it meant explaining that, and the explanation was not in Vision. `RelativePathElement` initialised `IsInverse` to `true`. A caller that sets a `ReferenceTypeId` and a `TargetName` — which reads as "the child reached by this Reference" — was therefore asking the Server for the inverse Reference, and got `Bad_NoMatch` with nothing in the request to suggest why. `ObjectTypeClient.ResolveChildNodeIdAsync` is such a caller, and it is what every source-generated Optional-child accessor in the stack is built on — the accessor whose own documentation cites `AlarmConditionTypeClient.GetShelvingStateAsync` as an example. Vision is merely where it surfaced, because Vision puts two Optional children on the path an off-Server agent must take. The sibling helper in `StateMachineTypeClientExtensions` already set `IsInverse = false` by hand, which is the shape of a trap rather than a default. The default is now forward, `ResolveChildNodeIdAsync` says so explicitly, and the existing test that had recorded `true` as expected now pins `false` with the reasoning. Of the forty `RelativePathElement` construction sites in the tree, that accessor was the only one relying on the default at all — every deliberate caller already set it. Two further defects were found underneath it, both real and both fixed: - The generated `CreateOrReplace` helpers construct a child state object directly and leave `TypeDefinitionId` unset as well as `ReferenceTypeId`. A child referenced by nothing cannot be browsed; one with no type definition is a malformed Object that a client filtering by type silently skips — which is exactly what `EnumerateResultsAsync` does. Normalisation moved to `VisionNodeManager`, so it also covers the case the builder cannot see: a result published at runtime by an inference provider, long after the address space was built. That path produced results a client could list but not read. - `Opc.Ua.AI` shipped without an `AssemblyInfo`, so the solution built with six `CA1014` warnings. I had initially "fixed" this in the Vision client with Browse-based fallbacks, on the strength of a probe that appeared to show `TranslateBrowsePathsToNodeIds` failing even for `Server → ServerStatus`. That probe was wrong: it used an unqualified `ReferenceTypeIds`, which inside a `Opc.Ua.Vision.` namespace binds to Vision's* `ReferenceTypeIds` and yields a nonsense NodeId. Chasing that to the end is what turned up the real cause. The fallbacks are gone — they would have hidden a stack-wide bug behind a Vision-shaped workaround, and one of them matched on browse name while ignoring the namespace index. `tests/Opc.Ua.Vision.Intent.Tests` is restored and back in `UA.slnx`, passing 14/14 on its own merit rather than through a client-side workaround. A registration test now pins the pipeline's `Feedback` and `Results` children, which nothing covered before. ## Running it, and what that found The demo's premise is that a language model looks at the bin and reasons about what it sees. Running it end to end showed it could not, for reasons no test covered, because every one of them lived between components. The sample did not compile. Two `CS8604` nullable errors with `TreatWarningsAsErrors`, so neither the cell server nor the demo could be started at all. Worth recording that my first explanation was wrong: CI does build this project - the Linux leg's `net10.0` pass compiles it, log-confirmed - so this is not a coverage gap in the workflow, and no workflow change was made. `Pick` and `Place` never moved the arm. They were a delay plus a gripper action, so the operations reported `Succeeded` while nothing travelled. They now solve IK once and interpolate in joint space. And the parts never moved: the arm swung but the bin stayed full, because nothing tied the held object to the world state. The connector now creates 11 monitored items where it created 6, and a scripted run delivers `SeqNo=151` across 10 messages where it delivered `SeqNo=3` across 1. The frame was smuggled through a string field. The media provider put a base64 data URI of the PNG into `VisionImageReferenceDataType.Uri` - a field meant to be a reference, while the bytes were already returned in the inline `ByteString`. Every response therefore shipped the image twice, and a 1,311,400-byte PNG became a 1,748,536-character string against a `MaxStringLength` of 65,535: 26.7x over. That is why raising `MaxByteStringLength`, `MaxArrayLength` and `MaxMessageSize` never helped - none of them govern a `String`. Separately the MCP tool assigned raw bytes where `ImageContentBlock` requires base64, so the wire carried `"data":"�PNG..."` - every non-UTF-8 byte replaced by U+FFFD, destroying the image and inflating the response to 6.8 MB. The camera was aimed at nothing. The arm's home pose, the flange scan pose the Vision model declared and the joint angles in the USD stage were three independent claims about where the camera was, and they disagreed - the declared flange orientation pointed the view 86 degrees away from the projection camera. Solving them as one thing exposed two further constraints that are easy to miss: the camera has to sit off the tool axis or it photographs its own gripper, and the IK branch has to be elbow-back or a link parks under the camera and fills the frame with the arm's own upper arm. A third was a regression this branch introduced and `Opc.Ua.Robotics.Tests` caught - aiming a straight-down camera from a point on the base's own X-Z plane puts the wrist on the J4/J6 singularity, so every motion away from home fails to solve. A 15-degree camera roll, free because the camera still looks straight down, gets 25 degrees clear, which is the margin the poses before this branch had. The frame and the detections were different images. The sensor declared 2448x2048, the clip endpoint 1280x1024, and the renderer produced 640x512 - not even the same aspect ratio. The ground-truth detector projects through the declared intrinsics, so its boxes lived in 2448x2048 space while an agent was handed a 640x512 picture: "pick the red cube you can see" arrived with coordinates that pointed off the image. Everything now agrees at 612x512, an exact 4x4 bin of the native sensor with the intrinsics scaled to match; the native size stays in the model and serial number, where it describes the hardware rather than the image. `LatestClip` was created and never written, so it reported `Bad_NoDataAvailable` for the life of the Server and a consumer following the model - read the published frame, call the method only if there is none - never got a frame. The dispatcher now publishes a clip it has just encoded, for every Vision server rather than this sample alone. One genuine API gap turned up on the way: `OpcUaServerOptions` exposes `MaxByteStringLength`, `MaxArrayLength` and `MaxMessageSize` and no `MaxStringLength`, so a Server that legitimately needs a long string could not raise the limit through the hosting API at all. Added, with tests. It is not the fix for anything above - that was a design bug - but the missing knob was real. ## Not finished - Two projects sit below the repository's 80% line coverage. `Opc.Ua.Vision.OpenUsd` is at 71.1% — what is left only executes with a real OpenUSD stage and plugin tree, which is not on every build agent. `Opc.Ua.AI.Inference` is now at 86.7%, up from 12.9%: the code this branch wrote is covered by 25 tests, and `RestChatCompletionsBackend` — previously the whole of the shortfall — is covered by 18 more against a stubbed `HttpMessageHandler`, exercising success, refusal, throttling, retry-after, timeout and cancellation without a network. Everything else clears the bar — `Opc.Ua.Vision.Server` 92.1%, `Opc.Ua.AI` 91.4%, `.Vision.Client` 88.1%, `Opc.Ua.Vision` 85.7%, `Opc.Ua.AI.Server` 80.1%, all measured with coverlet. The CI coverage gate reports itself as advisory and non-blocking. - `SamplesCollected` is not counted here, and `docs/Vision.md` now says so. Section 9.4 requires a Server to count a negative example (`SceneIsEmpty` / `RetractAll` carrying a `GroundTruthLabel`) exactly as it counts one carrying geometry. `VisionNodeManager` does not, and structurally cannot: `SamplesCollected` is a property of `LearningJobType`, which the AI Model Management companion defines, and Vision reaches the job through a `NodeId` value rather than a Reference precisely so this model takes no dependency on the model that defines it. What the Server does guarantee is that the negative example survives the hop intact — both flags are carried verbatim to `IVisionFeedbackSink` — so a host that binds a learning job has everything it needs to satisfy the clause on the counter it owns. Stated in the limitations rather than left implied. ## Related Issues Was stacked on #4195, now merged. No tracking issue yet for the Vision implementation itself — happy to open one if you would like the design recorded as an ADR before this goes further. ## Checklist - [x] I have signed the [CLA](https://opcfoundation.org/license/cla/ContributorLicenseAgreementv1.0.pdf) and read the [CONTRIBUTING](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/CONTRIBUTING.md) doc. - [x] I have added tests that prove my fix is effective or that my feature works and increased code coverage. — Types 8562, Server 4072, Client 2123, InformationModel 1063, Robotics 540, Tools 466, Vision 442, AI 74 and the restored Vision+Intent end-to-end suite 14/14, all green on net10.0. Only `.OpenUsd` (71.1%) is below the 80% bar — see Not finished. - [x] I have added all necessary documentation. - [x] I have verified that my changes do not introduce (new) build or analyzer warnings. — `dotnet build UA.slnx -c Release`: 0 errors, 0 warnings. - [x] I ran all tests locally using the UA.slnx solution against at least .net framework and .net 10, and all passed. — net48: Types 8555, Client 2126, Vision 385 green. Two net48 Server tests fail (`CreateUserManagementSeamBindsTheModelToTheServerAsync`, and `DurableDataValueQueueVerifyReferenceBatchingAsync` only under parallel load); both were confirmed pre-existing* by re-running them with the `IsInverse` change reverted, which fails identically.* - [ ] I fixed all failing and flaky tests in the CI pipelines and all CodeQL warnings. — The net48 build legs failed because the restored end-to-end project used `ValueTask.FromResult` / `string.Create`, which do not exist on .NET Framework; fixed in `fb57522da` and verified building on every TFM. `DisposeDrainsHeldConnectionCallbackBeforeListenerDisposal` failed once on the Ubuntu Client leg — a 13 ms timing-sensitive reverse-connect disposal test that passes locally 2123/2123 and touches no browse paths. - [ ] I have addressed all PR feedback received. ## Typed Vision-guided Robotics MCP workflows The branch now also makes the demo workflow first-class in the Full MCP profile: - replaces stringified Robotics intent and mission inputs with typed request schemas and exact name-or-NodeId selectors; - adds bounded operation/mission paging, stable step-to-operation identity, retained mission discovery, and `robotics_wait_mission`; - makes `vision_run_inference` return bounded typed detection, inspection, or segmentation summaries in one call; - adds same-session `robotics_vision_pick` to select a detection and submit Pick or Pick/Place work without implicitly taking authority, retrying, cancelling, or waiting; and - starts Publish workers for classic subscriptions so an independently launched OpenUSD viewer receives live robot and part updates. The migration guide documents the intentionally breaking MCP request-schema changes. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa Copilot-Session: a248a589-9a20-4372-868e-5d347e57001b Copilot-Session: 99d1ab42-f83a-41ab-bf3e-85bf81fadace Copilot-Session: bcbc8ac9-5abd-42a8-8bac-e10533790e2e	2026-08-29 19:34:15 +02:00

Author

SHA1

Message

Date

5899354441

Clarify documentation, migration guidance, and SDK selection (#4823 )

# Description

Remove stock phrasing and correct misleading or inconsistent technical
documentation. The initial two passes covered 367 Markdown files,
followed by an interactive review of 169 editorial flags. The U5
interpretation originally deferred in that review has since received the
upstream Mantis answer recorded by #4843; remaining server/spec
follow-ups stay explicit in the CTT log.

- Correct package responsibilities, migration steps, API names,
ownership, protocol descriptions and links. Keep bundled migration
guides synchronized. Preserve historical conclusions as historical
records with separate re-check notes.
- Provide at least two rendered TOC levels throughout `docs/`. Convert
appropriate architecture figures to Mermaid without changing code
examples, transcripts or historical quotations.
- Address the October 19 feedback with concrete setup/migration
instructions, corrected certificate paths and PubSub names, shorter
repeated caveats, consistent XML comments, and a full review of the
Concepts guide. Retain #4839's API corrections.
- Integrate #4841's runtime/performance guidance and review
incoming/recent prose. Preserve dated measurements rather than claiming
new benchmark runs; clarify allocation ratios, startup-only processor
settings, JIT warm-up and the benchmark commit's scope. Missing raw
measurement artifacts and repeat ranges remain tracked by #4842.
- Merge master through `e8c5d800a` in `32c6394b7`. Resolve the CTT log
conflict using the updated Mantis states and OPC answers, retaining
historical framing and re-checks for C28/C32/C43.
- Address the latest naming/index feedback in `adb5bf693`: rename the
guides to `docs/WotCon.md` and `docs/WotNodeSetConversion.md`; move the
provider and DataType-declaration contracts into the conversion guide
and remove `docs/WoT.md`. Rename `samples/DI` to `samples/Di` and
`samples/Isa95` to `samples/ISA95`. Add content-index READMEs to Di,
FluentApi, ISA95, Lds and PubSub; update solution entries, project
references, Docker/CI paths, test fixture paths and documentation links
with exact casing.

**WoT guide scope.** This branch retains the detailed conversion guide
that #4758 had replaced with an anchor stub. Conversion limits, verified
document sets, preservation rules and provider ownership now live
together in `WotNodeSetConversion.md`; binding/runtime guidance remains
in `WotBindings.md` and `WotCon.md`. The design-rationale/test-ledger
prose was shortened, the oversized argument-table cell moved into its
section, and existing anchors preserved.

**SDK policy is a separate, explicit user-directed change.**
`global.json` sets a stable minimum of `10.0.400`, `rollForward:
latestMajor`, and `allowPrerelease: false`. Newer major SDKs are
permitted; CI's explicit SDK pins are unchanged. README, GettingStarted,
DeveloperGuide and Recycling instructions reflect the possible analyzer
differences. The image-contract regression fix accepts compatible stable
SDK images instead of requiring exact equality with the floor.

The latest four rename/index threads are resolved after publication.
Three older threads remain open: universal obsolete-removal timing,
unconditional nonce-strength wording, and a blanket Vision NativeAOT
claim. Existing implementation/evidence constraints are explained in
their inline replies. The two-level TOCs remain as requested.

## Validation

- `git diff --check` and staged diff checks: passed. The untouched
upstream AutoID NodeSet retains its provenance bytes, including two
existing license-header trailing spaces.
- `.\.azurepipelines\validate-migration-plugin.ps1`: passed; 15 bundled
migration documents and manifests synchronized.
- Documentation/path validation: **101** documents retain two rendered
TOC levels (**2,228** entries), with idempotent formatting. **52** new
relative links and their anchors passed exact-case checks. No tracked
references to the old guide/sample paths remain. Both relocated
provider-contract sections are preserved in the destination.
- `dotnet sln UA.slnx list`: passed; shows the renamed Di/ISA95 projects
and the existing FluentApi/Lds/PubSub projects. Updated solution and
pump ProjectReference paths also passed exact-case existence checks.
- Latest focused commands, run from the repository root:

```powershell
# Passed: 61 channel send-order and reconnect tests.
dotnet test tests\Opc.Ua.Core.Tests\Opc.Ua.Core.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~UaSCBinaryChannelSendOrderTests|FullyQualifiedName~TcpReconnectKeyAgreementTests' --verbosity minimal

# Passed: 5 pump datasheet tests; builds the renamed pump sample.
dotnet test tests\Opc.Ua.Di.Tests\Opc.Ua.Di.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~PumpDatasheetConformanceTests' --verbosity minimal

# Passed: 4 repository NodeSet path/round-trip tests, including the moved pump models.
dotnet test tests\Opc.Ua.Types.Tests\Opc.Ua.Types.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~RepositorySourceSurvivesSerializedLinkedPartitionsAsync' --verbosity minimal

# Passed: build, zero warnings/errors.
dotnet build samples\ISA95\MinimalIsa95Server\MinimalIsa95Server.csproj -p:CustomTestTarget=net10.0 -f net10.0 --verbosity minimal

# Passed: dependent sample-test project build, zero warnings/errors.
dotnet build tests\Opc.Ua.WotCon.Samples.Tests\Opc.Ua.WotCon.Samples.Tests.csproj -p:CustomTestTarget=net10.0 -f net10.0 --verbosity minimal
```

Earlier focused integration checks passed 2,620 tests across AutoID,
event queues/scheduling, source generation, MCP/package profiles and
WoT. Both reviewed Mermaid diagrams rendered locally without network
access. These checks are not a full solution run.

The full solution has **not** been rerun for this review. Earlier
`dotnet test UA.slnx -p:CustomTestTarget=net10.0 --verbosity quiet` did
not pass: three AOT projects rejected VSTest and 20 Vision tests failed
during graphics initialization with `OutOfMemoryException`. Remaining
long-running tests were stopped at the user's request. A focused Vision
rerun passed 558 tests and reproduced those 20 failures. The earlier
`dotnet test UA.slnx -p:CustomTestTarget=net48 --verbosity quiet` was
blocked by the former SDK pin and was not retried after the policy
change. The user approved proceeding with those limitations documented;
current remote CI is not claimed green.

## Related Issues

- Follow-up #4842 tracks the requested 2.0.2+ benchmark/tuning and
diagnostic-tool documentation refresh. #4841 supplies documentation and
earlier results, not all newly requested measurements.
- #4758 explains the conversion guide's earlier consolidation; the
current provider contracts are now consolidated into
`WotNodeSetConversion.md`.
- #4839 supplies the reviewed API corrections; #4843 supplies the
updated CTT issue record.
- The original prose cleanup and SDK policy were user-requested without
a source issue. No new runtime architecture is introduced by these
documentation edits.

## Checklist

_Put an `x` in the boxes that apply. You can complete these step by step
after opening the PR._

- [ ] I have signed the
[CLA](https://opcfoundation.org/license/cla/ContributorLicenseAgreementv1.0.pdf)
and read the
[CONTRIBUTING](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/CONTRIBUTING.md)
doc.
- [ ] I have added tests that prove my fix is effective or that my
feature works and increased code coverage.
- [x] I have added all necessary documentation.
- [ ] I have verified that my changes do not introduce (new) build or
analyzer warnings.
- [ ] I ran **all** tests locally using the **UA.slnx** solution against
at least .net **framework** and .net **10**, and all passed.
- [ ] I fixed **all** failing and flaky tests in the CI pipelines and
**all** CodeQL warnings.
- [ ] I have addressed **all** PR feedback received.

---------

Co-authored-by: Roman Ettlinger <romanett98@gmail.com>
Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>

2026-10-21 10:10:55 +02:00

Marc SchierandCopilot

cef83550cb

OPC UA Vision: a vision-guided bin-picking demo an LLM agent can see and drive (#4235 )

# Description

Implements **OPC UA — Vision** and uses it to build the demo the
companion specifications were drafted for: an eye-in-hand camera watches
a bin of parts, a language model *looks at the frame*, decides which
part matches the instruction, and commands the robot through Robot
Intent — with the OpenUSD viewer showing the arm move and the bin empty
out.

> **Draft, and stacked.**
[#4195](https://github.com/OPCFoundation/UA-.NETStandard/pull/4195) has
merged and master is merged in, so what is left on top of `master` is
the Vision work plus the unmerged `marcschier/ai-model-management`
branch, which the demo needs for the model/dataset/deployment
provenance. Review the Vision commits; the AI Model Management work
lands with its own PR.

## What is here

**The specification, implemented.** `Opc.Ua.Vision` is generated from
the spec's own `Opc.Ua.Vision.NodeSet2.xml`, vendored byte-identically
(SHA-256 `79C592C6…`, verified against a fresh download and stored
LF-preserved like the Robot Intent NodeSet). `Opc.Ua.Vision.Server`
builds the §4.2 discovery object, sensors, the coordinate-frame tree,
calibrations, media endpoints, inference pipelines and the §9 feedback
methods, with rendering and inference behind injectable providers.
`Opc.Ua.Vision.Client` is built on the generated ObjectType proxies and
composes transforms across the frame tree, which is what turns a
detection in camera coordinates into a pose a robot can act on.

**Two perception paths behind one contract**, which is exactly what
`InferenceLocationEnum` is for. `OnServer` is a deterministic detector
derived from the stage's ground truth — no model, no network, no GPU, so
CI can exercise the whole loop. `EdgeOffServer` is the agent: it sees
the frame over MCP and calls `SubmitDetections`, and the Server
publishes results it did not compute. A client reads
`DetectionResultType` identically either way.

**The agent's eyes.** `tools/Opc.Ua.Mcp.Vision` adds 22 `vision_*`
tools, which with the four shared connection tools makes the `vision`
profile 26; `vision_get_frame` returns the camera image as an MCP
`ImageContentBlock`, so the model looks at pixels rather than reading a
description of them. Tool profiles now compose — `--profile
vision,robotics` yields 62 tools — so one agent can both see and act
without dragging in the full 136-tool catalogue.

**The cell.** `samples/Robotics/BinPickingCell` follows the spec's own
Robotics-Vision Addendum: the `world → robot_base → flange →
gripper_tcp` frame tree with `camera_eih` on the flange, the `HandEye`
extrinsics and the `Intrinsics612x512` intrinsics — the addendum's
2448×2048 calibration scaled to the 4×4-binned grid the camera actually
delivers. `samples/Robotics/BinPickingClient` hosts the composed MCP
catalogue and optionally the viewer.

**Documentation.** `docs/Vision.md` (~800 lines) covers the model,
hosting, the build context, every topology builder, both perception
paths, feedback, the MCP profile and the limitations; linked from
`docs/README.md`, with the profile table in `docs/McpServer.md` and
READMEs for both samples.

## Evidence, not assertions

Each of these was measured on a running system rather than assumed:

| Claim | Evidence |
|---|---|
| The camera sees the bin | 612×512 frame with the bin and all five
parts in view — red `(212,47,47)`, green `(61,193,71)`, blue
`(54,85,218)`, yellow `(215,196,58)`, orange `(209,119,55)` |
| An agent can act on what it sees | Over MCP, `vision_get_frame`
returns a 612×512 PNG that decodes from base64 to 1,254,051 bytes, the
descriptor beside the detections says 612×512, and all five
`BoundingBox2D` centres land **inside** the frame on the pixel colour
their own detection claims |
| The geometry is right | A detection composed `camera_eih → world`
lands on the authored position, residual **0.0000 m** — on both the
on-server and off-server paths |
| The detector tracks the world | Placing a part drops the next scan
from 5 detections to 4, with that part absent |
| The robot obeys the agent | Scripted run took command authority and
completed a pick and a place, both `Succeeded` |
| Tool catalogues are honest | Counted from a running server: vision 26,
robotics 40, `vision,robotics` 62, full 136, **zero duplicates** |
| Every node is browsable by NodeId | Eight representative NodeIds —
both folders, a pipeline, a frame, the sensor, its Calibrations folder,
the HandEye calibration, the Media folder — all `Good` |

That tool-count check matters because the profile tests collapse names
into a `HashSet` and *cannot see* a duplicate registration — so the new
tests count registrations, not names.

## Things that were wrong, and are not now

Writing the tests found three defects of one kind — code that answered
instead of refusing. A zero-norm quaternion was silently rewritten to
identity, so a caller with an all-zero orientation got a confident wrong
grasp pose. `SubmitCorrection` rewrote a null `ResultId` to empty and
called the sink anyway. A bad `StageIdentifier` **killed the host
process** inside native `UsdStage.Open`, via an exception .NET cannot
catch. All three now refuse loudly and are pinned by tests.

**Nodes that existed but could not be reached.** The node manager
indexes the Vision root before configurators run, so everything the
fluent builder grafted on afterwards — both folders, the pipelines with
their Results and Feedback, the frames, the sensors with their optics,
calibrations and media endpoints — was never added to the index.
Browsing *forward from a parent* worked, because that walks
`NodeState.Children` in memory; browsing any of those nodes *by its own
NodeId* returned `BadNodeIdUnknown`, which is how an ordinary client and
the MCP discovery tools navigate. Registration is now deferred and
flushed after each configurator. The first fix covered only the DI path
and left the documented non-DI fallback broken in exactly the same way,
so `ConfigureVisionAsync` now exists and registers what it builds.

That defect survived a green suite because every test browsed children.
The new tests assert by NodeId, and were checked against the broken code
— with the flush removed, they fail.

**Every Method was uncallable.** The Server passed 426 unit tests while
not one of its Methods could be invoked over a real session —
`RunInference` returned `Bad_TooManyArguments`, and so did every other
Method that takes arguments, which is all of them but `StartContinuous`
and `Stop`. Three independent faults, each sufficient on its own: the
Method nodes were never created (they are Optional children, and the
dispatcher guards every attachment with a null check, so it silently
attached nothing); nothing declared the arguments, so the stack
concluded none were expected; and `MethodDeclarationId` pointed at a
synthesised NodeId rather than the NodeSet declaration a client calls
with, so the lookup missed the instance Method entirely. The builder now
creates the Methods, the `Results` folder and the `Feedback` object when
a provider or sink is configured, declares every signature, and names
the right declaration.

Unit tests could not have caught this: they invoke the handler delegates
directly and never go through `MethodState.Call`. It took an end-to-end
test over a real session. Relatedly, children created by the generated
`CreateOrReplace` helpers carry no `ReferenceTypeId`, so nothing could
reach them — fixed once in the build context rather than at the several
dozen call sites.
**And one where I was wrong.** Earlier in this branch I reversed my own
agents' decision and made `SubmitDetections` accept an empty detection
set, reasoning that "I looked and the bin is empty" is a correct
observation and refusing it forces a correct agent to invent a
detection. The reasoning is sound; it is also an argument *against* the
specification rather than an implementation of it. §9.5 is normative and
explicit — its StatusCode table lists `Bad_InvalidArgument` for
"`Detections` empty; or `SubmitCorrection` supplies both or neither
corrected array".

Worse, **none of §9.5's argument rules were enforced anywhere** — the
dispatcher forwarded every submission straight to the feedback sink, so
conformance depended on whichever sink a host installed. They are Server
obligations, so they now live in the dispatcher, ahead of the sink,
proven by strict mocks that would throw if the sink were consulted. The
usability problem is real and does not go away by conforming, so it is
raised where it can be fixed:
[opcua-drafts#70](https://github.com/marcschier/opcua-drafts/issues/70).

## Tracking the updated drafts

The Vision, Robot Intent and AI Model Management NodeSets on
`opcua-drafts` `main` have moved, partly because of feedback this branch
raised. All three are re-vendored byte-identically — verified by
comparing git blob hashes against the upstream files rather than by eye
— and the implementations follow.

**Two statements that were previously inexpressible now have a wire
representation.** `SubmitDetections` takes `SceneIsEmpty` and
`SubmitCorrection` takes `RetractAll`, so an agent can report "I
examined this frame and there is nothing in it" — the terminating
condition of the bin-picking task — and can retract a false positive by
correcting a result down to nothing. Both are checked in both
directions, because the flag is exactly what separates a deliberate
empty observation from a lost payload: an empty array without the flag
is refused, and the flag with an array attached is refused as two
contradictory claims about one frame. Implemented in the dispatcher, the
client, the MCP tools the agent drives, and the sample cell.

Also absorbed: `LampType` and `LightingMode` became enums (§66),
`ProfileName` became `DefaultProfileName` on the endpoint (distinct from
the `ProfileName` a caller passes to `GetStreamEndpoint`, which keeps
its name), AI `Invoke`/`InvokeAsync` gained `PayloadUri` under the same
exactly-one rule, and AI `ListModels` gained a `ContinuationPoint` —
because `MaxResults` alone puts everything past the bound permanently
out of reach.

**OpenUSD is on `0.9.0-alpha`**, verified on the running cell rather
than by restore alone: D3D12 backend, 612×512 frame, the bin and all
five parts in view and detected — the same result `0.8.0-alpha`
produced.

The one local workaround that survives is `VisionMethodArguments`, and
its reason has changed rather than gone away: the builder materialises
these Methods as Optional children through `CreateOrReplace`, which
constructs the state object directly and never runs the generated
factory that now carries the signatures. Checked rather than assumed —
removing the declarations fails five of the eight
`VisionMethodSurfaceTests`.

## Review feedback

Three threads, all addressed in `0fe2803a3`:

- **The AI Model Management work is now a library family, not a
sample.** `src/Opc.Ua.AI` (model), `.Inference` (`IInferenceBackend` and
backends), `.Server` (node manager) and `.Client` (discovery, reads,
calls, artefact transfer), in the same shape as the Robotics and Vision
families; the samples become `samples/AI/ModelManagementServer` and
`ModelManagementClient`. The client library needed real work rather than
relocation: its browsing surface was `private` inside the sample's
scenario runner, so moving the file alone would have produced a library
nobody could call.
- **No cloud-vendor SDK is referenced anywhere.** Inference goes through
`Microsoft.Extensions.AI` — an `IChatClient` is implemented by hosted
services and on-device runtimes alike, which is exactly the property
clause 8.1 asserts. `Azure.Identity` is gone: workload identity is not
an Azure feature, every platform projects a token into a file and each
SDK reads that file behind its own API, so the resolver reads it
directly. The comment claiming `Microsoft.Extensions.AI` would force a
`System.Text.Json` bump was stale — it pins 10.0.10, which this
repository already centralises on.
- **`BinPickingCell` and `BinPickingClient` moved into
`samples/Robotics/`**, which is where they belonged: the cell was
already linking the arm, its kinematics and both USD assets out of
`IntentEnabledRobot`.

## Upstream

Work that belonged elsewhere went elsewhere rather than being worked
around locally:

- **`openusd-dotnet`
[#13](https://github.com/marcschier/openusd-dotnet/pull/13)** — merged
and shipped in `0.8.0-alpha`. `SilkFrameCapture.Capture` rendered only
the first capture of a session and silently returned a blank frame for
every one after it. Also filed
[#14](https://github.com/marcschier/openusd-dotnet/issues/14) (no
camera-by-prim API) and
[#15](https://github.com/marcschier/openusd-dotnet/issues/15) (skipped
tests reported as passed — which fooled me for several runs). Both are
fixed; this branch takes `0.8.0-alpha` and deletes two workarounds,
including 143 lines of hand-rolled projection maths.
- **`opcua-drafts`
[#66](https://github.com/marcschier/opcua-drafts/issues/66)–[#69](https://github.com/marcschier/opcua-drafts/issues/69)**
— a close read of the spec produced 22 candidate ambiguities; 12 were
discarded as misreadings with clause citations and the remaining 10
filed. One is concrete: five members exist in the NodeId CSV that no
clause documents.
- **`opcua-drafts`
[#70](https://github.com/marcschier/opcua-drafts/issues/70)** — §9.5
could not express an empty observation or a false-positive retraction.
**Adopted**, with the explicit-flag resolution argued for:
`SubmitDetections` gained `SceneIsEmpty`, `SubmitCorrection` gained
`RetractAll`, and the corrected-array rule relaxed from *exactly one* to
*at most one*.
- **`opcua-drafts`
[#71](https://github.com/marcschier/opcua-drafts/issues/71)** — the
Vision NodeSet browse-named all 13 `InputArguments` / `OutputArguments`
Properties in the Vision namespace rather than the base namespace, so a
stack could not find them and every Method in the specification was
uncallable. **Fixed**; this branch now tracks the corrected artefact.

## The defect underneath it all

The end-to-end suite was removed earlier in this branch because nine of
its
fourteen tests failed on one symptom: a client could not open a
pipeline's
`Feedback` object or enumerate its `Results`, even though browsing the
same
parent listed both. Restoring it meant explaining that, and the
explanation
was not in Vision.

`RelativePathElement` initialised **`IsInverse` to `true`**. A caller
that
sets a `ReferenceTypeId` and a `TargetName` — which reads as *"the child
reached by this Reference"* — was therefore asking the Server for the
**inverse** Reference, and got `Bad_NoMatch` with nothing in the request
to
suggest why.

`ObjectTypeClient.ResolveChildNodeIdAsync` is such a caller, and it is
what
**every source-generated Optional-child accessor in the stack** is built
on
— the accessor whose own documentation cites
`AlarmConditionTypeClient.GetShelvingStateAsync`
as an example. Vision is merely where it surfaced, because Vision puts
two
Optional children on the path an off-Server agent must take. The sibling
helper in `StateMachineTypeClientExtensions` already set `IsInverse =
false`
by hand, which is the shape of a trap rather than a default.

The default is now forward, `ResolveChildNodeIdAsync` says so
explicitly,
and the existing test that had recorded `true` as *expected* now pins
`false` with the reasoning. Of the forty `RelativePathElement`
construction
sites in the tree, that accessor was **the only one relying on the
default at
all** — every deliberate caller already set it.

Two further defects were found underneath it, both real and both fixed:

- The generated `CreateOrReplace` helpers construct a child state object
directly and leave **`TypeDefinitionId`** unset as well as
`ReferenceTypeId`.
A child referenced by nothing cannot be browsed; one with no type
definition
is a malformed Object that a client filtering by type silently skips —
which
  is exactly what `EnumerateResultsAsync` does. Normalisation moved to
`VisionNodeManager`, so it also covers the case the builder cannot see:
a
result published **at runtime** by an inference provider, long after the
address space was built. That path produced results a client could list
but
  not read.
- `Opc.Ua.AI` shipped without an `AssemblyInfo`, so the solution built
with
  six `CA1014` warnings.

I had initially "fixed" this in the Vision client with Browse-based
fallbacks,
on the strength of a probe that appeared to show
`TranslateBrowsePathsToNodeIds`
failing even for `Server → ServerStatus`. That probe was wrong: it used
an
unqualified `ReferenceTypeIds`, which inside a `Opc.Ua.Vision.*`
namespace
binds to *Vision's* `ReferenceTypeIds` and yields a nonsense NodeId.
Chasing
that to the end is what turned up the real cause. **The fallbacks are
gone** —
they would have hidden a stack-wide bug behind a Vision-shaped
workaround, and
one of them matched on browse name while ignoring the namespace index.

`tests/Opc.Ua.Vision.Intent.Tests` is restored and back in `UA.slnx`,
passing
**14/14** on its own merit rather than through a client-side workaround.
A
registration test now pins the pipeline's `Feedback` and `Results`
children,
which nothing covered before.

## Running it, and what that found

The demo's premise is that a language model **looks at the bin and
reasons
about what it sees**. Running it end to end showed it could not, for
reasons
no test covered, because every one of them lived between components.

**The sample did not compile.** Two `CS8604` nullable errors with
`TreatWarningsAsErrors`, so neither the cell server nor the demo could
be
started at all. Worth recording that my first explanation was wrong: CI
*does*
build this project - the Linux leg's `net10.0` pass compiles it,
log-confirmed -
so this is not a coverage gap in the workflow, and no workflow change
was made.

**`Pick` and `Place` never moved the arm.** They were a delay plus a
gripper
action, so the operations reported `Succeeded` while nothing travelled.
They now
solve IK once and interpolate in joint space. **And the parts never
moved**: the
arm swung but the bin stayed full, because nothing tied the held object
to the
world state. The connector now creates 11 monitored items where it
created 6,
and a scripted run delivers `SeqNo=151` across 10 messages where it
delivered
`SeqNo=3` across 1.

**The frame was smuggled through a string field.** The media provider
put a
base64 *data URI* of the PNG into `VisionImageReferenceDataType.Uri` - a
field
meant to be a *reference*, while the bytes were already returned in the
inline
`ByteString`. Every response therefore shipped the image twice, and a
1,311,400-byte PNG became a 1,748,536-character string against a
`MaxStringLength` of 65,535: **26.7x over**. That is why raising
`MaxByteStringLength`, `MaxArrayLength` and `MaxMessageSize` never
helped - none
of them govern a `String`. Separately the MCP tool assigned raw bytes
where
`ImageContentBlock` requires base64, so the wire carried
`"data":"�PNG..."` -
every non-UTF-8 byte replaced by U+FFFD, destroying the image and
inflating the
response to 6.8 MB.

**The camera was aimed at nothing.** The arm's home pose, the flange
scan pose
the Vision model declared and the joint angles in the USD stage were
three
independent claims about where the camera was, and they disagreed - the
declared
flange orientation pointed the view 86 degrees away from the projection
camera.
Solving them as one thing exposed two further constraints that are easy
to miss:
the camera has to sit off the tool axis or it photographs its own
gripper, and
the IK branch has to be elbow-back or a link parks under the camera and
fills the
frame with the arm's own upper arm. A third was a regression this branch
introduced and `Opc.Ua.Robotics.Tests` caught - aiming a straight-down
camera
from a point on the base's own X-Z plane puts the wrist on the J4/J6
singularity, so every motion away from home fails to solve. A 15-degree
camera
roll, free because the camera still looks straight down, gets 25 degrees
clear,
which is the margin the poses before this branch had.

**The frame and the detections were different images.** The sensor
declared
2448x2048, the clip endpoint 1280x1024, and the renderer produced
640x512 - not
even the same aspect ratio. The ground-truth detector projects through
the
declared intrinsics, so its boxes lived in 2448x2048 space while an
agent was
handed a 640x512 picture: *"pick the red cube you can see"* arrived with
coordinates that pointed off the image. Everything now agrees at
612x512, an
exact 4x4 bin of the native sensor with the intrinsics scaled to match;
the
native size stays in the model and serial number, where it describes the
hardware rather than the image.

**`LatestClip` was created and never written**, so it reported
`Bad_NoDataAvailable` for the life of the Server and a consumer
following the
model - read the published frame, call the method only if there is none
- never
got a frame. The dispatcher now publishes a clip it has just encoded,
for every
Vision server rather than this sample alone.

One genuine API gap turned up on the way: `OpcUaServerOptions` exposes
`MaxByteStringLength`, `MaxArrayLength` and `MaxMessageSize` and **no
`MaxStringLength`**, so a Server that legitimately needs a long string
could not
raise the limit through the hosting API at all. Added, with tests. It is
not the
fix for anything above - that was a design bug - but the missing knob
was real.

## Not finished

- **Two projects sit below the repository's 80% line coverage.**
`Opc.Ua.Vision.OpenUsd` is at 71.1% — what is left only executes with a
real OpenUSD stage and plugin tree, which is not on every build agent.
`Opc.Ua.AI.Inference` is now at **86.7%**, up from 12.9%: the code this
branch *wrote* is covered by 25 tests, and `RestChatCompletionsBackend`
— previously the whole of the shortfall — is covered by 18 more against
a stubbed `HttpMessageHandler`, exercising success, refusal, throttling,
retry-after, timeout and cancellation without a network. Everything else
clears the bar — `Opc.Ua.Vision.Server` 92.1%, `Opc.Ua.AI` 91.4%,
`.Vision.Client` 88.1%, `Opc.Ua.Vision` 85.7%, `Opc.Ua.AI.Server` 80.1%,
all measured with coverlet. The CI coverage gate reports itself as
advisory and non-blocking.
- **`SamplesCollected` is not counted here, and `docs/Vision.md` now
says so.** Section 9.4 requires a Server to count a negative example
(`SceneIsEmpty` / `RetractAll` carrying a `GroundTruthLabel`) exactly as
it counts one carrying geometry. `VisionNodeManager` does not, and
structurally cannot: `SamplesCollected` is a property of
`LearningJobType`, which the *AI Model Management* companion defines,
and Vision reaches the job through a `NodeId` value rather than a
Reference **precisely so this model takes no dependency on the model
that defines it**. What the Server does guarantee is that the negative
example survives the hop intact — both flags are carried verbatim to
`IVisionFeedbackSink` — so a host that binds a learning job has
everything it needs to satisfy the clause on the counter it owns. Stated
in the limitations rather than left implied.

## Related Issues

Was stacked on #4195, now merged. No tracking issue yet for the Vision
implementation itself — happy to open one if you would like the design
recorded as an ADR before this goes further.

## Checklist

- [x] I have signed the
[CLA](https://opcfoundation.org/license/cla/ContributorLicenseAgreementv1.0.pdf)
and read the
[CONTRIBUTING](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/CONTRIBUTING.md)
doc.
- [x] I have added tests that prove my fix is effective or that my
feature works and increased code coverage. — *Types 8562, Server 4072,
Client 2123, InformationModel 1063, Robotics 540, Tools 466, Vision 442,
AI 74 and the restored Vision+Intent end-to-end suite 14/14, all green
on net10.0. Only `.OpenUsd` (71.1%) is below the 80% bar — see Not
finished.*
- [x] I have added all necessary documentation.
- [x] I have verified that my changes do not introduce (new) build or
analyzer warnings. — *`dotnet build UA.slnx -c Release`: 0 errors, 0
warnings.*
- [x] I ran **all** tests locally using the **UA.slnx** solution against
at least .net **framework** and .net **10**, and all passed. — *net48:
Types 8555, Client 2126, Vision 385 green. Two net48 Server tests fail
(`CreateUserManagementSeamBindsTheModelToTheServerAsync`, and
`DurableDataValueQueueVerifyReferenceBatchingAsync` only under parallel
load); both were confirmed **pre-existing** by re-running them with the
`IsInverse` change reverted, which fails identically.*
- [ ] I fixed **all** failing and flaky tests in the CI pipelines and
**all** CodeQL warnings. — *The net48 build legs failed because the
restored end-to-end project used `ValueTask.FromResult` /
`string.Create`, which do not exist on .NET Framework; fixed in
`fb57522da` and verified building on every TFM.
`DisposeDrainsHeldConnectionCallbackBeforeListenerDisposal` failed once
on the Ubuntu Client leg — a 13 ms timing-sensitive reverse-connect
disposal test that passes locally 2123/2123 and touches no browse
paths.*
- [ ] I have addressed **all** PR feedback received.
## Typed Vision-guided Robotics MCP workflows

The branch now also makes the demo workflow first-class in the Full MCP
profile:

- replaces stringified Robotics intent and mission inputs with typed
request schemas and exact name-or-NodeId selectors;
- adds bounded operation/mission paging, stable step-to-operation
identity, retained mission discovery, and `robotics_wait_mission`;
- makes `vision_run_inference` return bounded typed detection,
inspection, or segmentation summaries in one call;
- adds same-session `robotics_vision_pick` to select a detection and
submit Pick or Pick/Place work without implicitly taking authority,
retrying, cancelling, or waiting; and
- starts Publish workers for classic subscriptions so an independently
launched OpenUSD viewer receives live robot and part updates.

The migration guide documents the intentionally breaking MCP
request-schema changes.

---------

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa
Copilot-Session: a248a589-9a20-4372-868e-5d347e57001b
Copilot-Session: 99d1ab42-f83a-41ab-bf3e-85bf81fadace
Copilot-Session: bcbc8ac9-5abd-42a8-8bac-e10533790e2e

2026-08-29 19:34:15 +02:00