UA-.NETStandard/tools/Opc.Ua.Mcp.Robotics/NugetREADME.md

OPCFoundation.NetStandard.Opc.Ua.Mcp.Robotics

OPC UA Model Context Protocol (MCP) tools for Robot Intent controllers, packaged so they can be embedded in any MCP server host rather than only run as the shipped opcua-mcp tool.

Use this package when an application wants an LLM agent to discover Robot Intent capabilities, read live controller state, submit explicit intents, and manage missions through the OPC UA Robotics Client API.

Tools

Discovery, live state and outstanding-work monitoring, direct-control tools for authority/cancel/pause/resume/retry and one submit tool per intent kind, plus mission submit/update/cancel, bounded operation/mission waits, and robotics_vision_pick.

Every tool takes a controller selector (unique display name, BrowseName, or NodeId). The selector is resolved once per call, and the controller's published lookup tables are then used to resolve the frame, tool, location, output, and program names named inside the request. Full NodeIds are always accepted and validated by the server. Resolution is read-only: it never submits work and never requests command authority.

Intent and mission inputs are typed MCP objects and arrays. There is no JSON document encoded inside an intentJson or stepsJson string. Mission intent kind is a closed discriminator, and exactly one matching payload is required. Operation and mission list tools return filtered, cursor-paged summaries by default; use Full detail only when the complete snapshots are needed.

robotics_vision_pick resolves a Vision pipeline on the same OPC UA session, runs one detection inference, applies exact ID/class and confidence filters, then submits either one Pick or a two-step Pick/Place mission. It returns the selected detection provenance and the authoritative operation or mission handles:

{
  "request": {
    "controller": "BinPickingController",
    "pipeline": "BinPickingPipeline",
    "source": "Bin",
    "tool": "ParallelGripper",
    "destination": "Fixture",
    "classLabel": "RedCube",
    "minimumConfidence": 0.9,
    "missionId": "place-red-cube"
  }
}

Refusals are returned with the server's exact IntentFailureEnum and message; the MCP layer does not retry, request authority implicitly, or reinterpret server decisions.

Intent, mission and result contracts

For example, a Pick tool request uses native JSON objects:

{
  "controller": "BinPickingController",
  "input": {
    "intentId": "pick-red",
    "source": "Bin",
    "tool": "ParallelGripper",
    "objectClass": "RedCube"
  }
}

Controller selectors accept an exact, unambiguous published name or NodeId. Tool/frame/location/output/program selectors resolve against the snapshot read for that call. Ambiguity is an error; resolution never takes authority or submits exploratory work.

Mission steps and transitions are typed arrays. Each step requires a closed kind discriminator and exactly one matching payload. A supplied IntentId is preserved; one is generated only when omitted. Results retain the StepId -> IntentId -> operation NodeId -> state correlation. robotics_wait_mission takes the mission operation returned by submission, not a lookup through mutable active state.

List summaries omit poses and complete output payloads; request Full detail only for the page that needs it. Wait timeouts return completed=false and a refreshed snapshot rather than claiming failure of the operation.

Vision-guided selection first applies exact DetectionId/ClassLabel filters and the confidence threshold, then orders by confidence, ordinal DetectionId and original result order. Results retain pipeline, sensor, model, frame and detection provenance, the selected pose and submission handles. The call does not wait for, cancel or retry the submitted work.

For tool behavior and the explicit-authority workflow, see the Robot Intent catalogue.

Usage

builder.Services.AddOpcUaMcpCore();
builder.Services.AddOpcUaMcpRobotics();

builder.Services.AddMcpServer()
    .WithStdioServerTransport()
    .WithOpcUaMcpFilters()
    .WithOpcUaCoreTools(McpToolProfile.Robotics)
    .WithOpcUaRoboticsTools(McpToolProfile.Robotics)
    .WithTools<MyApplicationTools>();

A profile that does not select Robotics contributes no tools rather than failing, so the same profile value can be passed to every OPC UA tool package a host references.

Related packages

Package	Adds
OPCFoundation.NetStandard.Opc.Ua.Mcp.Core	Part 4 service tools, session management, filters (required)
OPCFoundation.NetStandard.Opc.Ua.Robotics.Client	Robot Intent discovery, state, authority, operation and mission client API
OPCFoundation.NetStandard.Opc.Ua.Vision.Client	same-session inference used by robotics_vision_pick
OPCFoundation.NetStandard.Opc.Ua.Mcp	the ready-to-run opcua-mcp server composing all OPC UA MCP tool packages

License

OPC Foundation MIT License 1.00 — http://opcfoundation.org/License/MIT/1.00/