UA-.NETStandard/samples/Robotics/IntentEnabledRobot/README.md

IntentEnabledRobot

This sample is a small OPC UA Robot Intent server for one stationary UR5e-style arm. It publishes Server/RobotIntent/Controllers/UR5eIntentController, the controller's frames, tools, locations, axes, outputs, programs, description, safety state and OpenUSD representation.

This sample uses a UR-style six-axis arm and numerical IK. The BinPickingCell sample injects a separate analytic four-axis palletizer through the shared ISimulatedArmKinematics executor seam; changing the bin-picking robot does not change this standalone sample's model or behavior.

Run

dotnet run --project samples\Robotics\IntentEnabledRobot\IntentEnabledRobot.csproj -- --host localhost --port 62840

Default endpoint: opc.tcp://{host}:{port}/IntentEnabledRobot with port 62840. The default host is localhost so the generated server certificate matches local clients. Stop the server before rebuilding the sample; the running process holds its assemblies open.

For demonstration only, the sample maps anonymous users to the well-known Operator role so the command methods can be exercised without user-management setup. A production server should keep the Robot Intent command methods role-restricted and grant Operator only to authenticated operator identities.

For a finite, noninteractive run, supply --run-seconds (1 through 3600). --pki-root selects an absolute private certificate-store directory and --autoaccept false rejects untrusted certificates. These options are used by UaLens's explicitly selected, managed .NET 10 sample launcher, which applies its own shorter lifetime bound. For example:

dotnet run --project samples\Robotics\IntentEnabledRobot\IntentEnabledRobot.csproj -- `
    --host 127.0.0.1 --port 62840 --pki-root C:\Temp\IntentRobotPki `
    --autoaccept false --run-seconds 60

Finite runs do not start the interactive safety-console reader, so blocked console input cannot hold shutdown open. The simulated safety source and method authorization remain active. Without --run-seconds, the console is interactive. Robot Intent is a draft model, separate from the published OPC 40010 Robotics model.

Address space

The standalone Robot Intent node manager creates Server/RobotIntent/Controllers. The sample adds one IntentControllerType named UR5eIntentController with:

• frames World, Base, MechanicalInterface and GripperTcp linked by HasFrameParent;
• six revolute axes J1..J6, indices 0..5, with limits of +/-360 degrees except J3 at +/-180 degrees to match the simulated kinematics file;
• one fitted tool ParallelGripper whose TCP frame is the Tool role frame;
• locations Bin, Fixture, Inspect and Handoff;
• outputs GripperOpen and BenchLight;
• programs Home and PickAndPlace;
• a robot description with a six-joint kinematic chain, reach radius 0.85 m and payload limit 5 kg.

Capabilities

The server truthfully separates host capabilities from executor capabilities. MissionsSupported, MissionHorizonSupported and MissionBranchingSupported are true because IntentControllerHost implements mission submission, updates, cancellation, horizon release and branching step graphs; the executor receives only the individual released intent steps. TrajectorySupported is true because the simulated executor accepts a complete TrajectoryIntentDataType, follows its timed points and reports trajectory deviation. BlendingSupported and ForceControlSupported are false because the simulation neither blends motions nor regulates contact force.

The generated Robot Intent methods pass the StopMode argument to the executor. The simulation differentiates it as application stop urgency only: QuickStop decelerates with the configured acceleration bound, ProcessStop uses a moderate deceleration, OnPath uses a gentler deceleration along the path, and EndOfCycle / EndOfInstruction finish the current simulated motion segment. These modes do not select or imply IEC 60204-1 stop categories.

OpenUSD mapping

The stage serves Bench.usda as the root layer and arm.usda / gripper.usda as referenced assets. Viewer clients discover picked target prims through OpenUSD live bindings, not a hardcoded table. Each OpenUsdRepresentation is mounted on its represented Object with HasAddIn through the shared CreateRepresentation authoring helper. Browse Server/OpenUSD/Representations; for each representation, browse its live bindings and read the binding with SourceSemanticId = "RobotIntent.Location". Its TargetPrimPath is the USD prim and its SourceNodeId is the corresponding LocationType NodeId.

USD prim (TargetPrimPath)	SourceNodeId points to	Pose in frame world	Quaternion (x, y, z, w)
/World/Targets/Bin	Bin	(0.41, -0.28, 0.829)	(0, 0, 0, 1)
/World/Targets/Fixture	Fixture	(0.48, 0.26, 0.829), rz 25�	(0, 0, 0.2164396, 0.9762960)
/World/Targets/Inspect	Inspect	(-0.25, 0.30, 0.829), rz -20�	(0, 0, -0.1736482, 0.9848078)
/World/Targets/Handoff	Handoff	(-0.46, -0.26, 0.829), rz 40�	(0, 0, 0.3420201, 0.9396926)

The location poses are authored in the World Robot Intent frame and numerically match the USD target coordinates; the arm Base frame is also a child of World, so clients can transform consistently.

Target moves

The four published puck poses are reachable, but a straight Cartesian line between arbitrary pucks can cross a joint-limit boundary in this compact UR5e-style simulation. To make the click-to-target sample deterministic, the safety-aware sample executor handles a submitted LinearMoveIntentDataType as a cell-level target move: it first performs an internal joint move to a short pre-target approach pose, then executes the requested linear move into the published target pose. The externally visible command is still the client's linear intent and the final Result reports the published target pose; the internal joint segment demonstrates why Robot Intent exposes both joint and linear motion semantics.

Safety demonstration

Type commands into the server console:

• stop trips a simulated protective stop; submitted intents fail with NotPermittedInMode.
• limit 0.05 enables a safe speed limit; faster Cartesian motions fail with SafetyLimitExceeded.
• reset returns the simulated safety source to nominal.

The safety variables are read-only reports and there is no command method that clears a stop or changes a safe-motion function.