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Supply the motion verbs OPC 40010 leaves undefined - #47

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marcschier merged 11 commits into
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Aug 7, 2026
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Supply the motion verbs OPC 40010 leaves undefined#47
marcschier merged 11 commits into
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robot-intent-spec

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@marcschier marcschier commented Aug 2, 2026

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What this PR changes or proposes

Adds OPC UA — Robot Intent (metaverse-specs/robot-intent/, Release 0.1.0 draft): an information model for commanding a robot at the level of task intent — move there, follow this path, weld this seam, pick from here, place at that — with a lifecycle that survives the minutes such work actually takes.

  • OPC-UA-Robot-Intent.md — the specification (13 clauses, 4 annexes)
  • OPC-UA-Robot-Intent-Research.md — the prior art, the gaps, and the decisions those gaps forced
  • Opc.Ua.RobotIntent.NodeSet2.xml / .NodeIds.csv — generated (256 nodes, 69 types)
  • extras/robot-intent/tools/ — generator, validator, generated Annex A

It also fixes a defect in both generators: a DataTypeEncoding browses as Default Binary in namespace 0, and Vision and Robot Intent were both emitting 1:Default Binary. Vision is regenerated — 9 lines, no NodeId churn.

Why

OPC 40010-1 Robotics describes robot topology in detail and defines no motion verbs at all. Its entire actuation surface is Start, Stop and loading a named program. A conformant client can discover everything about a robot's construction and cannot ask it to move anywhere. Every integration above "run program 7" is therefore bespoke, even though every vendor already has joint, linear and circular moves, a speed, an acceleration, a blend, a tool frame and a work frame.

This supplies the verbs, and nothing else, so the two compose rather than compete.

The lifecycle is the harder half. A motion takes seconds and a pick takes a minute, while OPC 10000-4 §5.12.2 discards a method result when the Session ends "independent of the task actually performed at the Server" — so a synchronous motion method loses the outcome of work that has already physically happened. Submission therefore returns a Part 10 program instance the client watches, which is the resolution OPC 10000-10 §4.1 already reaches for exactly this case.

Design decisions worth review

  • Verbs are a DataType hierarchy, not one Method each. A submission and a mission step are then the same shape, extension is a subtyping act, and discovery is a read of SupportedIntents rather than a probe for BrowseNames.
  • Orientation is a unit quaternion (x, y, z, w). OPC UA defines no quaternion type, and the A/B/C fields of ThreeDOrientation carry no convention of their own. Annex C carries the normative bidirectional ThreeDFrame conversion, including the clamp that stops a pole orientation becoming a domain error.
  • ExecutionState refines the Part 10 state rather than restating it. Queued, Cancelling and the three terminal outcomes cannot be told apart from CurrentState alone; §6.3 tabulates every legal pairing, so the refinement is checkable rather than asserted.
  • Pick/Place reference Location nodes, not station strings, and Fasten references a joint in OPC 40450/40451 rather than restating tightening. A free-text identifier would be a second definition of a fact the address space already holds.
  • Queueing is PLCopen MC_BufferMode and concurrency is VDA 5050 blockingType, both adopted unchanged. No OPC UA specification defines either, and both are already implemented across the industry.
  • Mission branching follows IEC 61131-3, not a behaviour tree. Steps and transitions with alternative and parallel divergence are the notation the controller audience knows and have an IEC serialization; a behaviour tree needs a tick runtime controller vendors do not provide. Transition conditions reuse the base UA ContentFilter so nobody has to write a parser for an invented expression language, and an empty transition array leaves a mission the flat sequence it was.
  • The NodeSet is standalone on base OPC UA, following the Vision precedent; OPC 40010-1 interop is an optional profile carried by HasIntentController (Annex B).

Real-time: a division of labour, not an exclusion

Trajectory execution is in scope — the whole time-parameterised path is handed over once and the robot's own motion kernel runs it, which is what ROS FollowJointTrajectory and the PLCopen buffered path blocks already do. Streaming control is not expressible over OPC UA client/server, so the model brokers a channel instead: it describes and leases RTDE, EGM, FRI, RSI, MotoROS2 or OPC UA FX (OPC 10000-80…84), and the samples never traverse OPC UA. Same shape as the Vision model brokering a media endpoint rather than carrying pixels.

Safety: awareness and a refusal duty, explicitly not a rating

This one cannot be brought into scope as asked, and the specification says so rather than working around it.

OPC 10000-15 carries cyclic safety data from a SafetyProvider to a SafetyConsumer; the consumer's request holds an identifier, a monitoring number and one octet of explicitly non-safety flags, so a caller has no channel through which to supply safety-rated arguments. Every safety fieldbus — PROFIsafe, CIP Safety, FSoE, openSAFETY — expresses a safety command as a continuously asserted cyclic signal, because the integrity argument rests on the fail-safe state that follows when assertion stops. A Method call has no defined behaviour when it stops being called, and therefore cannot be a safety function however it is labelled.

So the model reports what the safety system is enforcing (SafetyStateType, with the IEC 61800-5-2 function vocabulary) and refuses work that would exceed it (§10.4), and states plainly that neither of those makes anything safe. A Server may observe the safety system and refuse on what it sees; it may never instruct it.

Standards check

The widely repeated claim that OPC 40010 Parts 2 (Skills) and 3 (Motion Program) are in development was tested against primary sources and is not supported — the OPC Foundation reference index lists only Part 1. What exists is opcua-skills/skill-nodeset, a VDMA SOArc prototype stalled at v0.0.5 since 2020 under http://opcfoundation.org/UA/Skills/. That namespace is avoided and the prior art is cited (Annex D). Whether a non-public VDMA working draft exists is the one question public research cannot close.

Type

  • Feedback / annotation only (no spec authored — maintainers will draft the change)
  • Concrete spec / prose change
  • Model change (NodeSet / CSV / generated artifacts, via the tooling)
  • Tooling / examples
  • Docs

Checklist

  • I edited the source (spec document, descriptor, or generator) — not generated NodeSets / CSV / Annex tables by hand
  • For a generated-spec change, I regenerated and ran validation (metaverse-specs/validate_all.py --self-contained and extras/robot-intent/tools/validate_local.py)
  • I opened this from a topic branch and am ready to discuss

Validation

  • metaverse-specs/validate_all.py --self-contained — all extensions OK
  • Determinism — regenerating both models reproduces the committed bytes exactly
  • NodeIds CSV against main83 added, 0 removed, 0 renumbered for Robot Intent; unchanged for Vision

The validator re-derives everything from the committed artifacts rather than asking the generator what it emitted, and cross-checks the specification against the model in both directions: every type and enumeration literal the model declares must be named in the prose, and every ns=1;i=<n> the prose cites must exist in the model. That check earned its keep twice — 48 unnamed members the first time, and another 48 when the scope was enlarged.

It is mutation-tested against 17 defects and catches all of them, restoring the tree byte-exactly afterwards. That includes the case that is easy to miss — a defect introduced in the generator and then fully regenerated, so the NodeSet, the CSV and Annex A all agree with each other and only the specification invariants can catch it — plus, since the scope grew, a process intent reparented off its abstract base, a transition condition swapped off ContentFilter, and a mandatory safety member demoted to optional.

Note for the reviewer

metaverse-specs/README.md was rebased over the OPC Foundation review move (#44/#46). The release-spec-link markers and the review notice are preserved verbatim; the section heading is now "The OpenUSD pair: two parts, two directions" because the tree holds four specifications rather than two, and vision/ and robot-intent/ are listed alongside them.

Related

The .NET stack implementation is now open as a draft at OPCFoundation/UA-.NETStandard#4165. It generates the model from this NodeSet, so the two move together — 149 tests pass there on net48 and net10.0.

The encoding BrowseName fix in this PR is what unblocked it: the .NET model source generator fails on 1:Default Binary with a bare NullReferenceException that names no node.

marcschier and others added 2 commits August 2, 2026 15:25
OPC 40010-1 describes robot topology in detail and defines no motion verbs
at all: its whole actuation surface is Start, Stop and loading a named
program. A client can discover everything about a robot's construction and
cannot ask it to move anywhere.

This adds OPC UA - Robot Intent, which supplies the verbs and nothing else,
so the two compose rather than compete.

The lifecycle is the harder half. A motion takes seconds and a pick takes a
minute, while OPC 10000-4 clause 5.12.2 discards a method result when the
Session ends "independent of the task actually performed at the Server" - so
a synchronous motion method loses the outcome of work that has already
physically happened. Submission therefore returns a Part 10 program instance
and the client watches it, which is the resolution OPC 10000-10 clause 4.1
already reaches for exactly this case.

Verbs are a DataType hierarchy rather than one Method each, so a single
submission and a mission step are the same shape and extension is subtyping.
Queueing is PLCopen MC_BufferMode and concurrency is VDA 5050 blockingType,
both adopted unchanged because both are already implemented everywhere and
no OPC UA specification defines either. Missions carry an immutable
committed base and a revisable horizon.

Orientation is a unit quaternion: OPC UA defines no quaternion type, and the
A/B/C fields of ThreeDOrientation carry no convention of their own. Annex C
carries the bidirectional conversion, including the clamp that stops a pole
orientation becoming a domain error.

Pick and Place reference Location nodes rather than naming a station in a
string, which would be a second definition of a fact the address space
already holds.

Clause 10 declares the interface non-safety-rated, restricts submission to
Automatic and Automatic External, and records that a stop request selects no
IEC 60204-1 stop category. Clause 8 says plainly that command authority
arbitrates between clients and is not the single point of control ISO
10218-2 requires.

The NodeSet is standalone on base OPC UA, following the Vision precedent;
OPC 40010-1 interop is an optional profile carried by a ReferenceType.

The validator re-derives from the committed artifacts rather than asking the
generator what it emitted, and cross-checks the specification against the
model in both directions. It was mutation-tested against thirteen defects,
including one introduced in the generator and fully regenerated so that the
NodeSet, the CSV and Annex A all agree with each other - which only the
specification invariants can catch.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa
A DataTypeEncoding browses as "Default Binary" in namespace 0. The BrowseName
is standard, not model-defined, and every published companion NodeSet writes
it that way. Both generators were emitting 1:Default Binary.

This is not cosmetic. Tooling that resolves encodings by BrowseName cannot
find them: the UA-.NETStandard model source generator fails outright on such
a NodeSet, and the failure surfaces as a NullReferenceException with no
indication of which node caused it - it took a binary search over the node
list to find.

Both models are regenerated. No NodeId moves, because only the BrowseName and
the added SymbolicName change: Vision is nine lines, Robot Intent eighteen.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa
Five things the specification did not do. Four are now defined; the fifth
turns out not to be a scoping choice at all.

Real-time was an exclusion and is now a division of labour. Trajectory
execution is expressible over request/response - the whole path is handed
over once and the robot's own motion kernel runs it, which is what
FollowJointTrajectory and the PLCopen buffered path blocks already do - so
TrajectoryIntentDataType, CartesianPathIntentDataType and ForceIntentDataType
are defined here. Streaming control is not expressible, so the model brokers
a channel instead: RealTimeChannelType describes and leases RTDE, EGM, FRI,
RSI, MotoROS2 or OPC UA FX and the samples never traverse OPC UA. That is the
same shape as the Vision model brokering a media endpoint rather than
carrying pixels.

Safety cannot be brought into scope as a rating, and the reason is
structural rather than editorial. OPC 10000-15 carries cyclic safety data
from a provider to a consumer; the consumer's request holds an identifier, a
monitoring number and one octet of explicitly non-safety flags, so a caller
has no channel through which to supply safety-rated arguments. Every safety
fieldbus expresses a safety command as a continuously asserted cyclic signal,
because the integrity argument rests on the fail-safe state that follows when
assertion stops - and a Method call has no defined behaviour when it stops
being called. So safety is in scope as awareness plus a duty: SafetyStateType
reports what the safety system enforces, clause 10.4 requires a Server to
refuse work that would exceed it, and the same clause says plainly that
neither of those makes anything safe. A Server may observe the safety system
and refuse on what it sees; it may never instruct it.

Robot construction was excluded on the grounds that OPC 40010 covers it. It
does not cover this part: OPC 40010-1 describes topology and axes and defines
no kinematic chain an IK solver could use, and no tool centre point at all.
RobotDescriptionType is therefore additive, and Annex B fixes which side
decides where both are present.

Process models are defined for all six applications, with fastening left
deliberately thin: OPC 40450 and OPC 40451 already own joining and
tightening, so FastenIntentDataType references a joint there rather than
restating torque strategies - the rule that already made Pick take a Location
node instead of a station string.

Mission branching follows IEC 61131-3 rather than a behaviour tree. Steps and
transitions with alternative and parallel divergence are the notation the
controller audience knows and have an IEC serialization; a behaviour tree
needs a tick runtime controller vendors do not provide. Transition conditions
reuse the base UA ContentFilter, so nobody has to write a parser for an
invented expression language, and an empty transition array leaves a mission
the flat sequence it was.

83 nodes added, 0 removed, 0 renumbered. The validator gained invariants for
the process hierarchy, the ContentFilter reuse and the mandatory safety
members, and the mutation suite grew from 13 defects to 17 - all caught, with
the tree restored byte-exactly.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa
@marcschier

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Stacked below #49. That PR branches from this one and restructures what this specification interoperates with, so this one should land first.

Relevant to reviewing this PR: #49 adds Annex E and the RI-Interop-Vision facet here, and renumbers Vision's frame-role enumeration to match this model's — the two both cite ISO 9787 while disagreeing on whether Tool is 2 or 3, and Vision is the one that moves.

The prose said TrajectoryIntentDataType carries PathTolerance,
GoalTolerance and GoalTimeTolerance "all MotionToleranceDataType".
GoalTimeTolerance is a Duration. An implementer decoding the structure
from the prose gets the wire format wrong at that field, and the
structure is not self-describing there. Lateness is one number, not a
pose deviation.

The 6.3 state diagram had Retriable --> Queued and gave Retriable no exit
to terminal, so execution resumed on the same instance. Clause 3 defines
Retriable as a state "from which execution does not resume", 6.6 says
Retry creates a NEW operation with the original left terminal, and 6.7
says a terminal Result shall not change thereafter. The model cannot
distinguish the two readings - Retriable to Queued is Halted to Ready,
which Part 10 permits - so a conformance test built from the model alone
rejects neither, and two implementations get incompatible operation
lifetimes.

FinalResultData and ProgramDiagnostic are Optional in
ProgramStateMachineType and were not promoted. So 6.7's "shall also be
reachable under FinalResultData" rested on a member a conformant Server
may omit, and 1.2's headline "auditable commanding" claim - which IS
ProgramDiagnostic and nothing else - was false against a legal
implementation. Both are now Mandatory on IntentOperationType, which is
the repository's stated remedy: a conformance unit that depends on an
inherited member promotes that member.

Written beside their type the promotions renumbered 39 members; they are
allocated at the end of the id space instead. 0 moved.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa
@marcschier

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Review response — 3 High findings fixed

GoalTimeTolerance had the wrong DataType in the prose. §5.4.1 said PathTolerance, GoalTolerance and GoalTimeTolerance were "all MotionToleranceDataType". It is a Duration. An implementer decoding TrajectoryIntentDataType from the prose gets the wire format wrong at that field, and the structure is not self-describing there. Lateness is one number, not a pose deviation.

The state diagram let execution resume from a state the document defines as terminal. §6.3 had Retriable --> Queued and gave Retriable no exit to terminal, while §3 defines it as a state "from which execution does not resume", §6.6 says Retry creates a new operation, and §6.7 says a terminal Result shall not change. The model cannot arbitrate — RetriableQueued maps to Part 10 HaltedReady, which is legal — so a conformance test built from the model alone rejects neither reading, and two implementations end up with incompatible operation lifetimes.

Two normative claims rested on Optional Part 10 members that were never promoted. §6.7's "shall also be reachable under FinalResultData" and §1.2's headline auditable commanding — which is ProgramDiagnostic and nothing else — were both false against a fully conformant Server, because Part 10 leaves both Optional. Both are now Mandatory on IntentOperationType, which is this repository's stated remedy: a conformance unit that depends on an inherited member promotes that member.

Writing the promotions beside their type renumbered 39 members; they are allocated at the end of the id space instead. 0 moved. 9/9 checks green.

Not fixed

Seven Medium findings are left for a follow-up rather than folded in here, since none is a correctness bug in the model: three §10.3 references that should read §10.4; §11.3's NodeId validation rule reading oddly against two members' purpose; Released/ReleasedStepCount having no rule binding them; BlockingModeEnum not matching the VDA 5050 attribution; GoalTolerance.Time overlapping GoalTimeTolerance with two failure codes; blending requestable two ways with no precedence rule; and the Vision PublicationDate not bumped for the change this PR makes to it.

marcschier and others added 7 commits August 5, 2026 09:10
Implementing this specification in the OPC UA .NET Standard stack surfaced six
defects. Each is a claim the document already made that the model did not let a
conformant Server keep.

Clause 6.2 orders six refusals and clause 5.8 calls the failure set small and
diagnosable on purpose, but SubmitIntent returned only IntentId and Operation.
A client could see that something had been refused and never which of the six it
was, so the ordering was unobservable and the failure taxonomy unreachable.
SubmitIntent, SubmitMission and Retry now return Accepted, Failure and Message,
clause 6.2 states that a Server returns Good and reports the refusal there
rather than substituting a Bad StatusCode, and OpenRealTimeChannel gains a
Message because clause 6.9 hid four grounds for refusal behind one boolean.

IntentOperationType declared ProgramDiagnostic as a Property of PropertyType
reached by HasProperty. OPC 10000-10 declares it as a Variable of
ProgramDiagnostic2Type reached by HasComponent, so the declaration added a
second member beside the inherited one instead of promoting it - which is why a
Part 10 client would not have found it where Part 10 says it is, and why the
first stack to generate the model deleted it. A promotion changes the
ModellingRule and nothing else; clause 6.1 now says so.

WaitIntentDataType.Signal read "an OutputSignal or other node", which clause
11.3 cannot check, and an unvalidated NodeId is the surface clause 11.3 exists
to close. It is now bounded to an OutputSignal under the controller or a
Boolean Variable under it, and clause 11.3 tabulates the expected type of every
NodeId-valued member rather than leaving "the expected type" to the reader.

Ready, ActiveIntent, ActiveMission and ControlOwner were in the model and in no
clause; clause 5.7.0 gives them normative meaning. Clause 6.9 now bounds
RequestedLease, which the lease rules never limited.

The NodeSet, the CSV and Annex A are regenerated; no previously assigned NodeId
moves.
Implementing the specification a second time surfaced three more places where
a conformant Server could tell a client something untrue.

Clause 9 already had three rules keeping the capability declaration honest, but
none of them said that a declared capability must come with the Methods that
make it usable. SubmitMission, UpdateMission, CancelMission and both real-time
channel Methods are Optional on IntentControllerType, so a Server could report
MissionsSupported true and omit SubmitMission entirely - which is exactly what
the first implementation did, and the contradiction only surfaced when a client
called something that was not there. A fourth rule and a table now fix which
Methods each declaration implies, and like the other three it is checkable by
browsing a running Server.

Clause 6.5 gave StopMode the PossibleStopModes vocabulary of OPC 40010-1 and
then said nothing about a Server that treats every value alike, so accepting the
argument and discarding it looked conformant. A Server must now either honour it
or treat every value as its single stop behaviour, and should say which - a
client that asks for OnPath and silently receives a QuickStop has been told
something untrue about how the cell came to rest.

Clause 6.4 left the stop mode of a superseded intent undefined, because an
Aborting submission names none. The Server chooses, should choose the most
urgent stop the cell tolerates since the successor is about to command motion of
its own, and should document which.

Prose only; the model is unchanged and regenerates identically.
Clause 12 defined conformance in terms of facets and then gave a Server
nowhere to say which ones it had. A client that wanted to know whether a
controller supported blending had to re-derive the whole of Table 12.2
from the address space itself, which is what the reference implementation
ended up doing.

That is worse than verbose. Several rows of the table are behavioural --
"the four blending buffer modes accepted and honoured", "the refusal
rules of 6.2", "the base immutability rules of 7.2" -- and no amount of
browsing settles them. Two clients deriving conformance independently
could therefore reach opposite conclusions about the same Server and both
be reading the specification correctly.

OPC 10000-5 already answers this with ServerCapabilitiesType.
ServerProfileArray: the Server states its profiles rather than leaving
them to be inferred. IntentCapabilitiesType now carries SupportedFacets
on the same principle, Mandatory, naming the facets of Table 12.2
verbatim.

Clause 12.2 now separates the two kinds of requirement it had been
mixing. Structural requirements are settled by reading -- the Outputs
folder, more than one ToolType, axes covering 0 to AxisCount - 1 -- and a
Server shall not list a facet whose structural requirements are unmet.
Behavioural requirements are the Server's attestation, and clause 9 says
what that means: listing RI-Blending while treating the buffer modes as
Buffered is the same false statement rule 3 already forbids, whatever
BlendingSupported says.

RI-Base requires SupportedFacets, since a conformance claim that cannot
be read is not a claim.

The member appends at i=6139; no existing NodeId moves.
Two defects, both found by implementing the draft and reviewing the
result.

The promotions of FinalResultData and ProgramDiagnostic were emitted with
namespace-1 BrowseNames. OPC 10000-3 says a subtype overrides an
inherited InstanceDeclaration by re-declaring a child with the same
QualifiedName, and a QualifiedName includes the namespace index -- so
1:ProgramDiagnostic never overrode 0:ProgramDiagnostic, it declared a
second member beside it and left the inherited Optional one in place.
That is the same failure the TypeDefinition and reference type were
already careful to avoid, reached by a different route, and it defeated
the entire point of promoting: clause 6.7's SHALL and the clause 1.2
auditable-commanding claim still rested on members a conformant Server
could omit. The generated client made it visible -- its accessor used
`new` to hide the base Part 10 one. Both now carry namespace-0
BrowseNames, using the same mechanism already applied to DataTypeEncoding
browse names for the same reason, and every other NodeSet in the
reference stack promotes inherited state-machine members unprefixed.

Clause 6.6 required Pause to suspend execution retaining position, but
the model defines no channel through which a Server can tell an actuator
to pause mid-motion. A Server whose controller offers no pause could
therefore only publish Suspended and hope -- and Part 10 defines that
state as position retained, so an operator reading the HMI sees the arm
at rest while it finishes the move. The reference implementation did
exactly that until a review caught it.

The requirement stays, because stopping the robot is what Pause should
mean. What is added is the honesty rule the rest of clause 9 already
applies elsewhere: a Server that cannot suspend a running intent declares
PauseSupported false, may still stop its queue, and leaves the executing
operation Executing with Ready reflecting that nothing new is admitted.
Suspended is never reported while the robot is still moving. That makes
clause 9 four rules rather than three, alongside the BlendingSupported
rule it is modelled on.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: a248a589-9a20-4372-868e-5d347e57001b
…#49)

* Give Vision a frame role for the flange

Vision's frame vocabulary was World, Base, Tool, Camera, Object, Other. It
had no value for the mechanical interface, so its own eye-in-hand picking
example labelled the flange `Tool` and the frame tree contained no tool
centre point at all.

That is not a naming quibble. The hand-eye calibration in Annex F resolves
camera to flange, and a pick has to reach the TCP. With one `Tool` role the
example could not carry the offset between them: adding a second frame for
the real TCP would have made `Tool` ambiguous inside one tree. Vision 5.8
describes this exact failure - "the pose is correct and the robot moves to
the wrong place, because the two ends disagreed about what the numbers were
relative to" - and the annex reproduced it.

`MechanicalInterface` is added and the literals are renumbered to match Robot
Intent, which had it right. Renumbering is free today and permanent after
publication: enum values live in EnumStrings, so no NodeId moves - the CSV
diff is 0 changed, 0 removed, 0 added for both models.

The example descriptor gains a `GripperTcpFrame` so the picking example
carries the flange-to-TCP offset explicitly rather than leaving a consumer to
assume it, and says why the two frames are distinct. Annex F, both addenda
and the overlays regenerate from it.

Vision 5.12 gains the three pose rules it was missing beside Robot Intent's:
right-handedness, quaternion normalisation, and the statement that this model
defines no default frame. The last one matters most - the same empty
`FrameId` means "not actionable" here and "default work frame" there, so a
transcoder written by someone who read one specification would have produced
a pose in the wrong frame.

Ten bare "5.10" references cited DataTypes when the rules they name - corner
datum, distortion ordering, frame precedence, the covariance sentinel - are
all in 5.12. They passed CI because check_section_refs.py requires a literal
section sign to see a reference at all.

Both specifications now carry a mutual interop annex, which neither did: they
never referenced each other despite being deployed on the same robot. Vision
Annex I and Robot Intent Annex E fix which frame tree decides, how FrameId
values correspond, that roles map by name and never by integer, how poses
transcode across the covariance field, and that a grasp pose resolving only
to the mechanical interface is refused. Annexes only - no NodeIds, no NodeSet
dependency, and both models keep base OPC UA as their only RequiredModel.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Give the AI model its own specification

Vision had grown a model nameplate, a dataset, a deployment and a learning
job - 30 members and ten types - none of which mention a camera. A process
soft sensor needs all of it and none of a lens, so leaving it there would
have obliged every other domain either to declare a vision model as a
RequiredModel or to define the whole thing again, at which point the
provenance question stops having one answer.

metaverse-specs/ai-deployment/ is domain-neutral by construction: its
validator fails the build if a type name acquires a domain term, and the
check is CamelCase word-boundary matched so Framework is not a false hit.
DeploymentStateEnum replaces the VisionEndpointStateEnum the deployment
had borrowed - same five literals, no dependency.

The join is a facet precondition, not a RequiredModel.
InferencePipelineType.Deployment was already a plain NodeId, so Vision's
namespace index does not shift and a Server that publishes cameras and
verdicts without ever naming a model is still conformant to VIS-Base.
VIS-Inference-* and VIS-Learning require AI-Base, and say so.

No Vision NodeId moves. The vacated blocks - 6107..6136, 6177..6190,
6193, 6195 - are reserved rather than reclaimed, because reusing them
would renumber all 45 members declared after them. The CSV diff is
61 removed, 0 added, 0 moved.

Both validators now cross-check specification against model in both
directions. That found 16 real gaps in Vision: enum literals and
structure fields the model declared and the prose had truncated with
"and so on". Mutation-tested in both directions on both models.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Stop restating the learning loop in two places

Clause 9.5 carried StartCollection, StopCollection, TriggerTraining and
PromoteModel with their StatusCodes, and 9.6 carried the state model -
all of which LearningJobType owns and OPC UA - AI Deployment and Learning
now states. Two documents stating one transition table is two places for
it to be wrong, and the wrong one is found by an implementer rather than
by a validator.

9.5.1 keeps only the vision-specific half: the join between a correction
submitted through VisionFeedbackType and the job that consumes it. The
distinct PromoteModel authorization is deliberately stated in both
documents, because it is the one rule where a reader of either alone
would reach the wrong conclusion.

The both-directions cross-check then found a real defect the old prose
had hidden. Clause 9.2 was titled "The three purposes" and described
three; VisionFeedbackPurposeEnum declares four. Trigger had never been
documented - it only appeared to be, because a "| From | Trigger | To |"
table header in the deleted state model satisfied the word match.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Let a Server actually use a model, not just describe one

The model said what a model IS and never let anyone use one. EndpointUri
was a bare String: no wire contract, no credential, no capabilities, no
failure semantics. A Server holding one knew where to send bytes and
nothing about what shape they should take or what to do when the far end
stopped answering - so "consume a model hosted elsewhere", which is the
whole point of the InferenceLocation property, was unimplementable from
what this model told it.

Three additions.

Clause 7 defines one invocation surface whose signature does NOT change
with InferenceLocation. That is not an aspiration: serving runtimes that
run on a workstation and the hosted services they mirror already expose
the same contract, differing only in addressing and auth. The payload
stays opaque - it is domain vocabulary - and what gets fixed is the
envelope, where ModelUsed reports the model that ACTUALLY answered. A
fallback or a followed reference moves it between the call and the read,
so the deployment's current model is the wrong answer to "what produced
this result", and wrong in the direction that looks plausible.

Clause 8 makes remote consumption real: dialect, auth kind, a credential
REFERENCE that is never a secret, capabilities, reachability, and the
question no inference API answers because it can assume its caller will
wait - what the line does when the WAN drops. FallbackPolicy is
Mandatory. So is DataJurisdiction and EgressPermitted, because encryption
answers who can read data in flight and not where it went.

Clause 9 makes the catalogue an xRegistry domain extension rather than a
private invention. Two things then fall out of the base type instead of
being designed: ResourceType IS a FileType, so a staged artefact streams
through the inherited Open/Read/Close; and it already carries
ExternalReference, so a federated entry whose bytes live elsewhere is
expressible without pretending to hold them. The import job federates by
default and stages when the target could not otherwise reach the source,
and verifies the digest at staging - the one moment a substituted
artefact would enter.

Jobs now derive from the Part 10 ProgramStateMachineType through a shared
AiJobType, as Robot Intent does, so the transition events and
auditability are inherited rather than reinvented.

Costs, stated plainly rather than buried: this model now requires
OPC UA - xRegistry, which spends the "exactly one RequiredModel" claim
and moves the own namespace from ns=1 to ns=2. Both validators hardcoded
ns=1 while reading it - Vision's would have resolved nothing and passed.
Both now derive the index from NamespaceUris.

No NodeId moved. JobId and LastError moved up to AiJobType and their ids
are reserved, not reclaimed: 0 removed in place, 141 added, 0 moved.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Enforce the new rules, and show what they add up to

The invariants that make clauses 7 to 10 executable rather than
aspirational, each mutation-tested:

- The four Mandatory members clause 8 rests on. A rule resting on an
  Optional member is a rule a conformant Server can silently not satisfy.
- Invoke returns ModelUsed, Usage and FinishReason.
- Nothing in the address space is NAMED like credential material. That is
  how the clause 8.2 prohibition gets violated by accident, and the
  address space is browsable, subscribable and historisable, so a secret
  placed here is not merely readable - it is archived.
- The catalogue types narrow their inherited placeholders. A domain
  extension that leaves them open adds metadata while restricting
  nothing.
- AiJobType still derives from the Part 10 base.
- NamespaceUris order, because it fixes every namespace index in the
  file.

All seven mutations caught; artifacts restored byte-exactly.

Annex C works one arrangement end to end: a federated cloud model and a
staged edge model, the WAN dropping, and the fallback answering. The
point of it is the sentence a table cannot make - the client called the
same Method with the same arguments throughout and never learned that
inference had moved, except by reading ModelUsed, which is exactly what
an audit a month later needs and what a client logging the deployment
would have got wrong.

ApiDialectEnum.OpenAiCompatible became RestChatCompletions. The literal
named a company. A standard's enumeration should describe the contract,
not advertise whoever published it first - and the prose says what it is
compatible with without needing the name. No vendor is named anywhere in
the document.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Deepen the clauses that were already there

Adding three clauses left the existing ones describing a smaller model
than the one that now exists, and put 5.6 between 5.1 and 5.2 - the
out-of-document-order defect this repository has been bitten by before
and which no check catches.

5.6 moved to where it belongs. Every heading is now in order.

5.2 documents what a model carries beyond its artefact: the publisher
that completes the identity triple, and Quantization, which is not a
packaging detail - a quantized model is a different artefact that gives
different answers, and treating it as a variant is how a model evaluated
at full precision ends up deployed at reduced precision with nobody
re-measuring it.

5.3 says why Mixed is not a hedge, and that a dataset whose class list
disagrees in ORDER with its model is undetectable: every identifier
resolves, every count is plausible, every label is off by one.

5.4 gains a table of everything that makes a deployment callable, and the
reason State and Reachability are separate. Ready + Unreachable is a
network fault; Faulted + Reachable points at credentials. Collapsing them
loses exactly what a commissioning engineer needs.

6 gains the joins to the consuming half - a trained candidate is not
privileged over an imported model and owes the same lineage - and says
plainly that almost no Server implements the whole loop, which is why
State is read rather than inferred from which Methods exist.

11 grew because the attack surface did. The chain has more links; two
break while a Server looks correct. The resolver policy now governs seven
URIs, and applying it to a staging import AFTER transfer is not a
control. Credential material is unaddressable, argued from the fact that
the address space is subscribable and historisable - a secret there is
not exposed once, it is published and archived. FollowsRef is promotion's
second door and needs the same authorization, or the audit trail shows
every promotion having been authorized. And a fallback may not be more
permissive on egress than what falls back to it, or a network fault
quietly sends plant data where policy forbids.

11.4 now says what DigestVerified actually means: the artefact is the one
this catalogue entry described. An attacker who can edit both artefact
and entry defeats it, and the catalogue is the better target because many
machines read it.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Fix what the review found in the AI split

Critical: the prose described a root object the model does not have.
VisionRootType lost Models and LearningJobs when the AI cluster moved,
but 4.2 still listed them normatively, 5.3 still said "five folders", and
the 5.2 figure still drew them. A Server following 4.2 literally would
instantiate two folders no ModellingRule permits, and a client following
5.3 to decide "is this Server doing AI" would browse for a folder that
can never exist. The figure now shows the AI cluster where it actually
lives - under AiRootType, beside the Vision object, not inside it.

Both worked examples had the same fault and a worse consequence: they
parked AI instances in those folders and never instantiated AiRootType at
all, so the only executable demonstration of the new seam could not
satisfy the AI-Base facet that VIS-Inference-* and VIS-Learning now
require. They now build a proper AI root under the Server object.

The learning loop lost content in the move that landed nowhere: the
StatusCode table, the idempotency of StartCollection/StopCollection,
TriggerTraining returning Accepted=false with Good, and the all-or-none
rule for a null Deployment. Worse, two transitions vanished - Promoted
had NO outgoing edge, so the loop could run exactly once, contradicting
the AI spec's own "the cycle repeats" two clauses earlier. Restored, with
the transition table it needs to be testable.

Both ReferenceType arrows in the AI overview figure were drawn backwards
against their own definitions. UsesModel is Deployment->Model and
TrainedOn is Model->Dataset; the figure said the opposite, so an
implementer following it would emit references that fail the exactly-one
rule. Vision's equivalent figure had them right, so the two documents
disagreed.

Vision still owned a rule it had handed over: 5.11 restated the
exactly-one UsesModel constraint verbatim, over a ReferenceType it no
longer defines - visible in the mangled "An DeploymentType", which is
what a mechanical rename leaves behind. Also fixed: a stale AiModelType
in a descriptor that a generated annex was publishing, an AiDeployment
reference shipping inside the NodeSet itself, an ObjectType count that
said 25 against an actual 21, and a scope sentence still claiming Vision
covers AI.

9.5.1 rule 1 required something no member could express - there was no
modelled path from a pipeline to a learning job, and the folder that used
to anchor one had just been removed. InferencePipelineType.LearningJob
makes it executable. Writing it beside its type renumbered
InferencePipelineType.Stop, so it is allocated at the true end of the id
space instead; 0 moved.

The encoding id counter was unguarded, so the 5009 freed by the moved
structure would have been silently reclaimed by the next structure added
- the same append-only violation the member ids were carefully protected
from.

Two validator blind spots, both proved by the reviewers and both now
mutation-tested: the AI validator rejected any struct field documented as
Type.Field, and the reverse cross-check silently SKIPPED a backticked
owner that no model declares - so a reference to a retired type passed.
That check now lives in Vision's validator, which is the only one with
both models loaded and therefore the only one able to tell an outside
type from a nonexistent one. Types from companion specifications are
allowlisted explicitly, so taking a new outside dependency is a
deliberate edit.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Require a Mandatory member to be documented, not just its type

The both-directions cross-check only compared type NAMES, so a whole
Method and three Mandatory members shipped undocumented: a Server is
obliged to implement them and a client has nothing to read. ListModels,
ModelSourceType.SourceId, and EvaluationRunType's RunId, EvaluatedModel
and Metrics.

The forward direction now checks member granularity for Methods and
Mandatory members, and stops there: demanding prose for every Optional
member would produce padding rather than documentation.

All five are now documented, including why ListModels takes a filter -
a public catalogue holds more models than any client wants to page
through, so a Method that could only return everything would be unusable
against exactly the sources clause 8 exists to reach.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Let a Server actually use a model, not just describe one (#50)

* Let a Server actually use a model, not just describe one

The model said what a model IS and never let anyone use one. EndpointUri
was a bare String: no wire contract, no credential, no capabilities, no
failure semantics. A Server holding one knew where to send bytes and
nothing about what shape they should take or what to do when the far end
stopped answering - so "consume a model hosted elsewhere", which is the
whole point of the InferenceLocation property, was unimplementable from
what this model told it.

Three additions.

Clause 7 defines one invocation surface whose signature does NOT change
with InferenceLocation. That is not an aspiration: serving runtimes that
run on a workstation and the hosted services they mirror already expose
the same contract, differing only in addressing and auth. The payload
stays opaque - it is domain vocabulary - and what gets fixed is the
envelope, where ModelUsed reports the model that ACTUALLY answered. A
fallback or a followed reference moves it between the call and the read,
so the deployment's current model is the wrong answer to "what produced
this result", and wrong in the direction that looks plausible.

Clause 8 makes remote consumption real: dialect, auth kind, a credential
REFERENCE that is never a secret, capabilities, reachability, and the
question no inference API answers because it can assume its caller will
wait - what the line does when the WAN drops. FallbackPolicy is
Mandatory. So is DataJurisdiction and EgressPermitted, because encryption
answers who can read data in flight and not where it went.

Clause 9 makes the catalogue an xRegistry domain extension rather than a
private invention. Two things then fall out of the base type instead of
being designed: ResourceType IS a FileType, so a staged artefact streams
through the inherited Open/Read/Close; and it already carries
ExternalReference, so a federated entry whose bytes live elsewhere is
expressible without pretending to hold them. The import job federates by
default and stages when the target could not otherwise reach the source,
and verifies the digest at staging - the one moment a substituted
artefact would enter.

Jobs now derive from the Part 10 ProgramStateMachineType through a shared
AiJobType, as Robot Intent does, so the transition events and
auditability are inherited rather than reinvented.

Costs, stated plainly rather than buried: this model now requires
OPC UA - xRegistry, which spends the "exactly one RequiredModel" claim
and moves the own namespace from ns=1 to ns=2. Both validators hardcoded
ns=1 while reading it - Vision's would have resolved nothing and passed.
Both now derive the index from NamespaceUris.

No NodeId moved. JobId and LastError moved up to AiJobType and their ids
are reserved, not reclaimed: 0 removed in place, 141 added, 0 moved.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Enforce the new rules, and show what they add up to

The invariants that make clauses 7 to 10 executable rather than
aspirational, each mutation-tested:

- The four Mandatory members clause 8 rests on. A rule resting on an
  Optional member is a rule a conformant Server can silently not satisfy.
- Invoke returns ModelUsed, Usage and FinishReason.
- Nothing in the address space is NAMED like credential material. That is
  how the clause 8.2 prohibition gets violated by accident, and the
  address space is browsable, subscribable and historisable, so a secret
  placed here is not merely readable - it is archived.
- The catalogue types narrow their inherited placeholders. A domain
  extension that leaves them open adds metadata while restricting
  nothing.
- AiJobType still derives from the Part 10 base.
- NamespaceUris order, because it fixes every namespace index in the
  file.

All seven mutations caught; artifacts restored byte-exactly.

Annex C works one arrangement end to end: a federated cloud model and a
staged edge model, the WAN dropping, and the fallback answering. The
point of it is the sentence a table cannot make - the client called the
same Method with the same arguments throughout and never learned that
inference had moved, except by reading ModelUsed, which is exactly what
an audit a month later needs and what a client logging the deployment
would have got wrong.

ApiDialectEnum.OpenAiCompatible became RestChatCompletions. The literal
named a company. A standard's enumeration should describe the contract,
not advertise whoever published it first - and the prose says what it is
compatible with without needing the name. No vendor is named anywhere in
the document.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Deepen the clauses that were already there

Adding three clauses left the existing ones describing a smaller model
than the one that now exists, and put 5.6 between 5.1 and 5.2 - the
out-of-document-order defect this repository has been bitten by before
and which no check catches.

5.6 moved to where it belongs. Every heading is now in order.

5.2 documents what a model carries beyond its artefact: the publisher
that completes the identity triple, and Quantization, which is not a
packaging detail - a quantized model is a different artefact that gives
different answers, and treating it as a variant is how a model evaluated
at full precision ends up deployed at reduced precision with nobody
re-measuring it.

5.3 says why Mixed is not a hedge, and that a dataset whose class list
disagrees in ORDER with its model is undetectable: every identifier
resolves, every count is plausible, every label is off by one.

5.4 gains a table of everything that makes a deployment callable, and the
reason State and Reachability are separate. Ready + Unreachable is a
network fault; Faulted + Reachable points at credentials. Collapsing them
loses exactly what a commissioning engineer needs.

6 gains the joins to the consuming half - a trained candidate is not
privileged over an imported model and owes the same lineage - and says
plainly that almost no Server implements the whole loop, which is why
State is read rather than inferred from which Methods exist.

11 grew because the attack surface did. The chain has more links; two
break while a Server looks correct. The resolver policy now governs seven
URIs, and applying it to a staging import AFTER transfer is not a
control. Credential material is unaddressable, argued from the fact that
the address space is subscribable and historisable - a secret there is
not exposed once, it is published and archived. FollowsRef is promotion's
second door and needs the same authorization, or the audit trail shows
every promotion having been authorized. And a fallback may not be more
permissive on egress than what falls back to it, or a network fault
quietly sends plant data where policy forbids.

11.4 now says what DigestVerified actually means: the artefact is the one
this catalogue entry described. An attacker who can edit both artefact
and entry defeats it, and the catalogue is the better target because many
machines read it.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Require a Mandatory member to be documented, not just its type

The both-directions cross-check only compared type NAMES, so a whole
Method and three Mandatory members shipped undocumented: a Server is
obliged to implement them and a client has nothing to read. ListModels,
ModelSourceType.SourceId, and EvaluationRunType's RunId, EvaluatedModel
and Metrics.

The forward direction now checks member granularity for Methods and
Mandatory members, and stops there: demanding prose for every Optional
member would produce padding rather than documentation.

All five are now documented, including why ListModels takes a filter -
a public catalogue holds more models than any client wants to page
through, so a Method that could only return everything would be unusable
against exactly the sources clause 8 exists to reach.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

---------

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Make the document read as a statement of the model, not its history

Five changes, none of which alter what the model can do.

The NodeId space had gaps at 6036, 6042 and 6104..6106 - residue of two
members that moved to a base type and three placeholders that narrowed
nothing - and the generator explained them with comments like "6036 held
JobId, now inherited". A reader implementing this today should not be
able to tell any of that happened. The model is unpublished, so the ids
are now contiguous: 6001..6145, 145 members, none lost. The diff against
the previous commit is a deliberate full renumber rather than the usual
0-moved.

1.2 "Why this is a separate specification" is gone. Its third paragraph
duplicated 4.2 outright, its second defended the document existing, and
only the first said anything about the model - which is now in 1.1 where
the motivation lives. 1.3 also carried two bullets that both said
training is out of scope.

11.1.1 was titled "The chain has more links than it used to", which is a
changelog sentence in a heading. It says what the chain is.

Five flows had no diagram: a call and what comes back, async submit and
subscribe, the far end failing and a fallback answering, federate vs
stage with the digest gate, and the provenance walk. Every arrow
direction was checked against the generator's ReferenceType definitions
rather than against intuition, because the last review found both arrows
in the overview figure drawn backwards against their own.

Annex D deploys an ONNX gearbox classifier end to end. Clause 7 had
acquired some vocabulary from generative models - a capability called
chat, accounting that is often tokens - while what industry runs is a
fixed-shape tensor model executed in-process. The annex shows the same
envelope carries it with nothing bent: tensor signatures as the entire
interface description, a staging import with the digest verified, usage
metered in samples rather than tokens, and Capabilities naming no chat
capability at all - an absence that means nothing, because the list is
open so a deployment describes what it does instead of scoring itself
against a menu.

It also says why no tensor wire format is standardised: raw buffers,
protobuf, Arrow and npy are each right somewhere, and a Server already
speaking one to its runtime should not transcode into a format chosen
here. ContentType names which is in use, which is what a client needs.

Plus a table of contents, 69 entries, all resolving.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Retitle: AI Model Management and Inference

"AI Deployment and Learning" named two of thirteen clauses. The document
also covers what a model is, calling it, calling one hosted elsewhere,
the catalogue and bridge, and governance and provenance. Management
carries the catalogue, import, lifecycle and governance; Inference
carries the call, which is the largest clause and the first thing an
implementer reaches for.

The type system was already name-neutral, so almost nothing in the model
changes. The namespace stays http://opcfoundation.org/UA/AI/ - it was
never named for the old title, and changing it would invalidate every
RequiredModel pin and every overlay reference for nothing. AiRootType,
AiJobType, AiResourceType and the AI-* facets are all prefixed Ai, not
AiDeployment, so they stand.

Exactly one identifier carried the old title: the well-known browse entry
point. AiDeployment becomes AiModelManagement, which is a BrowseName
change - NodeId 7001 does not move. The CSV diff is 0 moved, with that
one symbolic name replaced and nothing else touched.

Folders moved with git mv so history follows the document rather than
showing a delete and an add.

The riskiest part was not the rename but what reaches into this tree by
path: both Vision generators, the Vision validator, validate_all.py, the
tree README and sixteen references in the Vision specification. A missed
path there would not have failed loudly - the Vision validator returns
empty sets when the AI NodeSet is absent and then passes - so AI_TYPE_ID
was checked to be populated rather than inferring it from a green run.
It resolves 42 types and 208 ids.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Address PR #49 review feedback

Headings stated conclusions instead of naming topics, so a reader
scanning the contents met forty arguments rather than a structure.
Forty-three are now topic names - "Provenance", "Lineage", "Version
binding", "Data residency and egress" - and every statement a heading was
carrying has been restored as the opening sentence of the clause it
belonged to, so nothing was lost in demoting them.

The information model sections read as clipped one-liners. 5.2, 5.3 and
5.4 now open by saying what the type is for, who reads it and when, and
the member descriptions say what each is needed for rather than only what
it holds. The 5.4.1 table literally prefixed a "The question" column
before each answer; it is prose now.

5.4.2 compared State with Reachability, which clause 8 does not introduce
until much later - the reader met a comparison against something
undefined. It now describes State on its own terms, including why
Degraded sits between Active and Faulted, and defers the combination to
8.4 where the other half exists.

"The bridge" was doing two jobs. A Server reaches an external AI system
either by calling one per request (clause 8) or by obtaining a model from
a catalogue once (clause 9), and both get called bridging. 9.2 now
separates them before defining the import job, and the clause is titled
"The catalogue and model import".

"A card that lists only what a model can do is marketing" was polemic for
a specification; it now says the same thing about behaviour and
commissioning without the jab.

The decision record explaining why this was a separate specification was
already removed in an earlier commit; the section is gone rather than
rewritten, since a standalone document does not argue for its own
existence.

Contents regenerated for the renamed headings: 69 entries, all resolving.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Address PR #49 review feedback: payload size and scenarios

Invoke carried its payload as a ByteString, which is bounded three times
over - by MaxByteStringLength, by the negotiated MaxMessageSize and by
the Session's MaxResponseMessageSize - none of which this model gets to
choose. An image, a point cloud or a window of high-rate samples exceeds
them routinely, so the one call the specification defined could not carry
the input it was defined for.

Invoke is now the shortcut and BeginTransfer is the general path.
InferenceTransferType carries one chunked exchange whose Request and
Response are Part 5 FileType objects, so a client opens, writes or reads
in chunks of its own choosing, and closes. Nothing here invents a
transfer protocol: OPC UA already has one, every client implements it,
and a bespoke chunking scheme would be a second thing to get wrong.

MaxInlinePayloadSize is Mandatory and says the bound before a client
calls rather than after a rejection, because the three limits above are
not all visible from the client side and the smallest of them is the real
one. Clients that do not know their payload sizes in advance are told to
start with the transfer path.

The awkward case is not a large request - a client knows its own input -
but a request that fits producing a response that does not. Invoke
returns TransferRequired and Transfer for that, and a Server shall NOT
fail the call: the inference already ran, and failing would discard the
work and tell the caller nothing, leaving it to read an empty payload and
conclude the model returned nothing.

Streaming stays where it was. A transfer delivers one complete response
however large; 8.5 covers output a client wants as it forms, over a
Subscription or optionally a data channel.

Clause 4 Scenarios is new, and informative: eight arrangements this
specification supports, each with the flow that realises it, so a reader
can find the one resembling their installation before reading the
normative clauses that define its parts. They are not alternatives - a
plant running a model locally, calling a hosted one for a second opinion
and importing both from a catalogue is doing three at once.

Clauses 5 to 14 shift by one to make room. Every clause reference was
re-checked by hand rather than trusting the section-ref gate, which
resolves a bare reference against any cited document and would not have
caught a stale one.

0 NodeIds moved; 22 added.

* Show how the AI model maps onto the systems people actually integrate (#54)

* Add vendor implementation guides for the AI Model Management specification

The specification names ApiDialectEnum literals for what a contract does
rather than for whoever published it first, because a literal in a
standard should not be an advertisement. That is right for the normative
document and leaves an implementer holding a question it does not answer:
they are not integrating a REST chat-completions contract, they are
integrating Azure AI Foundry, or Bedrock, or the Triton server already in
the plant.

Eleven informative guides under extras, one per system, each with the
same nine sections so the index's coverage table means something. The
ninth - what this system does not tell you - is the one worth reading
first; a mapping document that lists only what maps is marketing.

Two findings the set makes hard to avoid noticing.

No hosted inference platform in it exposes an artefact digest. Not
Foundry, OpenAI, Bedrock, SageMaker, NIM, Triton or Vertex. Identity
everywhere is a name string. Hugging Face is the only content-addressed
system here and it serves no inference. So Digest stays empty against a
hosted endpoint, a Pinned deployment is pinned to a NAME with the
provider's policy rather than a hash holding it still, and the Stage
import mode is the only path in the set that ends with a digest the
Server computed itself.

AuthenticationKindEnum cannot express AWS SigV4. The guides map it by
what is STORED, which is what makes the member answerable across systems
whose handshakes have nothing in common: an IAM role is WorkloadIdentity
because no secret exists anywhere, static access keys are ApiKey. Whether
the enumeration should gain a literal is a separate decision - it would
be a NodeSet change - and is not taken here.

validate_examples.py re-derives from the NodeSet and the specification,
never from the guides, and is wired into validate_all.py because a
validator outside the aggregate silently stops running. It checks that
cited members exist, that every dialect and authentication literal is
exercised, that conformance units are real, that each guide links the
specification by relative path - which is also what makes a bare section
reference resolve, metaverse-specs being a strict tree - and that the
index agrees with the guides.

It earned its place twice while being written: it found that no guide
covered OpcUaInference, which is why there is now one for federating to
another Server implementing this specification, and it caught a member
this author had cited as ImportMode when the model calls it Mode.

Mutation-tested against all five checks. No model file is touched: no
NodeSet, no NodeIds CSV, no generator, so no version bump.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Correct the vendor guides against an audit of all eleven

Nine of the guides were written by sub-agents and only spot-checked. A
three-way audit against the sanctioned research and the specification
found errors in every category the audit looked for, including in the two
documents the lead wrote.

Conformance claims that were simply wrong:

AI-OffServer requires EndpointUri to name an authenticated, confidential
scheme. The NIM, Triton and KServe guides all claimed it while showing a
plain http:// listener as the default - which is the ordinary way a
self-hosted inference server sits on a plant network, so this was wrong
in exactly the case a reader would be in.

AI-Import requires AI-Catalogue; an import job with nothing to import
from is not implementable. SageMaker and Triton claimed AI-Import from
S3 URIs and a model repository respectively, neither of which is a
catalogue that declares a digest to verify against.

The federation guide claimed every conformance unit an upstream Server
implements is reachable through the link. A conformance unit describes
what THIS Server exposes; reaching a Server with a catalogue does not
give this Server AI-Catalogue, mirroring it does. Rewritten as three
lists by what the downstream Server actually has to build.

Model errors:

ApiDialect is Mandatory, and the Hugging Face guide left it empty on the
grounds that a catalogue speaks no inference contract. True, and not
available: it is Proprietary with EndpointDescriptionUri doing the work,
and the guide now says the cleaner arrangement is to model the Hub as a
ModelRegistryType under clause 10 rather than bending a ModelSourceType
around it.

AI-Invoke requires ModelUsed populated on every response, so the
federation guide's suggestion that a downstream Server may return null
when it cannot resolve the upstream model was not one of the options. It
publishes a ModelType for the substitute or it fails the call.

RateLimit.RetryAfter is a Duration; Retry-After carries seconds or an
HTTP date. Converted, not copied.

Citations: ModelUsed is 8.2.1 and not 8.5, which is Incremental results;
the payload bound and the transfer path are 8.2.4 and not the whole of
8.2. The index attributed the digest rules to clause 11 when 12.1 states
them, and asserted a shall-not the specification does not contain - what
12.1 actually requires is that a Server populate Digest where the
artefact is obtainable through ArtifactUri, which for a hosted model it
is not.

Unsupported vendor facts, removed rather than softened: ONNX file
metadata fields, GGUF header contents, Triton's storage backends and
repository-management extension, and Retry-After attributed to specific
platforms rather than to HTTP.

Triton's dialect split was a transport split. Clause 9.2 names the
literals for the contract, and Triton serves OIP over both HTTP and
gRPC, so both are OpenInferenceProtocol. TensorRemoteProcedure stays,
described as what it is for.

The index also called Hugging Face the only exception to no artefact
digest, omitting embedded runtimes - the one arrangement in the set where
the digest is something the Server computed rather than was told.

Comparative praise replaced with description throughout.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Restore the blank line before a heading in the federation guide

Lost while rewriting the catalogue section for the conformance-unit
audit. MD022, and the only markdownlint finding across the set.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Releases 0.3.0 and 0.4.0: what eleven real systems taught the AI specification (#55)

* Integrate what the vendor mappings taught the AI specification

Mapping one information model onto eleven real systems was a natural
experiment, and it found places where the model was unsatisfiable,
unguarded or ambiguous. None of them needs a NodeSet change.

AI-Invoke was unsatisfiable for every non-language model. The facet
required Usage "populated on every response" while no clause imposed
that obligation, and "empty" was unencodable: the three counts are
UInt64 and the model declares no optional fields, so leaving them
empty encodes as zero, indistinguishable from a metered zero. Five
guides claimed the facet while documenting empty Usage. 8.2.3 now
makes an empty UnitKind the not-metered sentinel, with the counts set
to zero and clients forbidden from reading them as measurements. The
unit carries the sentinel because the counts cannot.

Residency did not compose across a federation hop. A payload leaves a
deployment along exactly two modelled edges, FallsBackTo and Source,
and only the first was guarded; EgressPermitted's only shall binds on
InferenceLocation Cloud, so a cell-to-site EdgeOffServer hop escaped
it. 9.5 states the members are end-to-end rather than next-hop, and
obliges a Server federating to a peer to read its declarations and
never publish anything more permissive, defaulting fail-safe where it
cannot read them. This is the rule 12.3.2 already states for the
other edge.

Clause 13.1 described a plant MLOps node that "may never call Invoke
at all" while AI-Base required at least one deployment. The facet's
deployment requirements are now conditional on the Server exposing
one. AI-OffServer cites 12.2's scheme requirement instead of
restating it, so the two cannot drift.

Three ambiguities are resolved where the guides had each invented an
answer. ModelId carries the source's identifier verbatim, and
Publisher names who produced the model rather than who serves it --
two Servers were reading owned_by into Publisher and publishing
"azure" for a model Meta trained. AuthenticationKind classifies what
is stored rather than the handshake performed, which is what makes
SigV4 answerable without a new literal. ApiDialect classifies the
contract this Server speaks, and a catalogue-only source is
Proprietary with an EndpointDescriptionUri -- correct, not a
shortcoming.

The eleven guides are updated to cite these rules rather than derive
them, and three that had softened 12.2's shall into an operator
choice are corrected.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Release 0.3.0: state why a digest is absent, and reach a registry from an import

Three changes the vendor mappings argued for that prose alone could not
make. All three append; NodeId churn is 0 changed, 0 removed, 5 added.

DigestProvenanceEnum, Mandatory on ModelType and Optional on
ModelResourceType. Digest is Mandatory so that its absence is uniform
and browsable, and that stays right -- seven of eleven systems cannot
fill it, and Optional would make "no digest" indistinguishable from
"does not implement digests". But empty then carried two meanings and
populated carried three, and the missing answer was doing visible harm:
five guides each prohibited a DIFFERENT wrong value -- a response
fingerprint, a resource name, a storage entity tag, a manifest hash, a
commit identifier -- and none could say what to publish instead. 12.1.1
states the prohibition once and supplies NotAvailable. Mandatory for the
reason Digest is, which 6.2 already gives: clause 12 depends on it, and
a rule that depends on an Optional member is one a conformant Server can
silently not satisfy. A StatusCode cannot carry it -- DeclaredBySource
and VerifiedOnStage are both Good.

12.1.1 also states that provenance does not strengthen by being
forwarded, on the ordering NotAvailable < DeclaredBySource <
ComputedByServer < VerifiedOnStage. Republishing an upstream peer's
VerifiedOnStage would claim a check this Server did not perform, and the
claim would be indistinguishable from one it had. Same composition
argument as 9.5 residency, applied to the other thing a federated
deployment forwards.

ModelImportJobType.Registry, with 10.2 requiring exactly one of Source
and Registry non-null. Source was Mandatory and typed ModelSourceType,
so nothing connected an import job to a ModelRegistryType -- the edge
the 4.4 and 5.1 diagrams draw. A Server importing from a catalogue had
to invent a source wrapper around its own registry. Source keeps its
Mandatory rule and takes null on the registry path, the idiom
TargetDeployment already uses, so no existing member changes.

ModelType.Name is constrained rather than retyped: its Text shall be the
source's name carried across unchanged, translations may be added for
display, and the Text is not reformatted. Retyping to String would have
been cleaner and is breaking; the property wanted -- two Servers
fetching one model from two mirrors produce the same string -- is
obtainable by constraining the field.

Version and PublicationDate bump to 0.3.0 / 2026-08-05, picked up by the
vision overlays automatically because build_examples.py derives both
from the AI generator rather than pinning them.

The eleven guides state their DigestProvenance value and cite 12.1.1
instead of each re-arguing the prohibition. The index reads the member
as the axis the set varies along: evidence tracks custody, which is why
an embedded runtime -- a local file the Server can simply hash -- is the
one arrangement here that produces evidence without vendor cooperation.

Adds CHANGELOG.md, where this repository keeps release history so the
specification does not have to narrate it.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Stop sending a homeless identifier to a member that cannot hold it

12.1.1 correctly forbids a non-content identifier in Digest and then
disposed of it into ArtifactUri or ProvenanceUri. Those are scalar
String Properties on ModelType -- one artefact, one value. A serving
configuration fingerprint is per-response and per-deployment, so the
disposition is unimplementable for the case it was most needed in, and
five guides were left telling an implementer not to publish a value the
specification had just promised a home for.

The narrowed rule says what is true: an identifier that LOCATES the
artefact or its provenance record belongs in those members, and one
that identifies something else has no member in this model. Recording
that a datum has no home is better than filing it where a client reads
it as an artefact digest.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Release 0.4.0: model what eleven real systems publish and this had no member for

The same eleven mappings, read with a different question. 0.3.0 asked
which rules were wrong; this asks what these systems do that the model
cannot represent at all. The answer had a consistent signature: a guide
NAMES a vendor field and then maps it nowhere, and the omission is
invisible because nothing is missing from the guide's own tables.

Twelve appended Properties, no new DataTypes. NodeId churn is 0 changed,
0 removed, 12 added.

A model had no time on it. Six of eleven return a vintage in the call a
Server populates ModelType from, and every guide dropped it. The
asymmetry made it plain: DatasetType.CreatedAt exists with 6.3
defending it, and a catalogue resource inherits CreatedAt/ModifiedAt
from xRegistry, so a model known through a catalogue had a vintage and
the same model federated from an endpoint did not. LastModifiedAt is
the load-bearing one: 9.3's FollowsRef lets the artefact change with
nothing else changing, and 12.3.1 requires repointing to be an
authorization-bearing act while pointing at a job record that a
source-side move never produces.

A model had no end to it. Bedrock alone publishes legacyTime and
endOfLifeTime -- one vendor of eleven, and in the model anyway, because
vendor count is the wrong measure for an industrial specification. On
that date the deployment does not degrade, it stops; FallbackPolicy
fires, and where that is FallBackTo the line keeps producing while
something outside the qualified configuration answers. Every other
availability facility here copes after the fact. This is the only one
whose value is a date in the future.

The asynchronous path could not carry a large payload. InferenceJobType
had no TransferRequired and no Transfer, so InvokeAsync was bounded by
exactly the limits 8.2.4 says this model does not choose -- while 8.6
motivated it with the requests most likely to exceed them, and 13.2
claimed a parity that did not exist. 8.6.1 separates two problems that
had been collapsed: a result too large to carry, which the transfer
pair solves, and data that never needed to move, which it does not.
Five guides had discarded the vendor URI mechanism on the ground that
it is not a chunked transfer; they were right, and there was nothing
else to compare it to.

A deployment did not say what to send it. Ten of eleven publish a
request contract; the model captured the tensor half only, which is why
AI-Signatures was unclaimable by every hosted platform. The vocabulary
existed and was out of reach behind an explicit assertion in 9.2 that
these members never affect how a client calls this Server. 6.4.2 puts
ApiDialect and EndpointDescriptionUri on DeploymentType and 9.2's
sentence is rewritten rather than quietly dropped: naming which
contract opaque bytes must satisfy is not typing them, and 8.2's
argument for opacity is about contents.

A pinned deployment could move without anything changing. 12.1.1
forbade putting a serving-configuration fingerprint in Digest and
offered ArtifactUri or ProvenanceUri, which are scalar Strings on
ModelType and cannot hold a per-deployment value, so the datum was
thrown away. RuntimeIdentity holds it, and 9.3.1 states what makes it
matter: a change to it IS the observable change to the deployment that
9.3 says a pinned artefact cannot move without.

Three defects found by reading the specification against itself.
6.4.3 made Degraded normative for a deployment missing its
LatencyBudget while no measured latency existed anywhere, so the rule
could not be observed to be satisfied or violated by any legal Server;
ObservedLatency supplies the input. 13.2's AI-InvokeAsync row claimed
size parity it did not have. 9.4's ListModels answered catalogue size
with a cap and no cursor, putting everything past MaxResults
permanently out of reach.

Nothing added is Mandatory. Each is governed by a conditional shall in
the clause that defines it, because a blanket Mandatory would oblige
nine of eleven Servers to publish a RuntimeIdentity they cannot obtain,
and a requirement no conformant implementation can satisfy is not a
requirement.

Breaking: Invoke and InvokeAsync gain a PayloadUri input and ListModels
gains a ContinuationPoint in and out. Argument lists are the Value of
an existing Variable, so no NodeId moves, but a client that calls
positionally will break.

Two tooling fixes fall out. validate_examples.py now reads Method
argument names from the NodeSet, so a guide citing PayloadUri is
checked rather than suppressed -- mutation-tested against a typo and an
invented name. And a member description holding paragraphs was ending
its own table row in the generated model reference, which stayed
invisible only while such a member happened to be last in its table.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Define the profiles both clause titles have promised since 0.1.0

Clause 13 of the AI specification and clause 12 of Robot Intent are both
titled "Profiles and conformance units" and both defined facets only.
Neither information model changes, so neither version moves: profiles
publish through the base-UA ServerProfileArray and need no member.

A facet is a building block; a profile is a complete claim. The
distinction is commercial rather than technical -- a plant writes a
profile name into a purchase order, and enumerating nine facet names
correctly is not something a procurement document does reliably. Robot
Intent's 1.2 already depends on this without a word for it: a
mixed-fleet cell works only if two robots claim the same shape.

Four AI profiles. Inference Device, Inference Gateway, Model Catalogue,
Model Lifecycle. The first three were already in 13.1 as prose examples
-- a device running one fixed model, a gateway calling a hosted one, a
plant MLOps node that may never call Invoke -- so naming them cost
nothing but a name, and 13.1 now points at 13.3 instead of restating
them.

AI-Residency is INSIDE the gateway profile rather than optional to it.
Once inference leaves the Server, where does my data go has an answer,
and a gateway that cannot state it is the arrangement 9.5 exists to
prevent.

The Lifecycle profile is witnessed by none of the eleven mapped systems
and is defined anyway. All eleven are inference or catalogue systems;
none is a plant that trains, which is what clause 7 was written for.
Its absence was also why AI-Learning, AI-Dataset and AI-Stream looked
orphaned -- they belonged to a Server shape the document described
nowhere. AI-Stream stays in no profile, because 13.2 already says a
Server answering only through Invoke is conformant without it and a
facet genuinely optional to every shape should not be bundled into one.

Four Robot Intent profiles: Motion, Handling, Path, Mission. RI-Safety
sits in the baseline, which is the decision here most worth arguing
about. Clause 10 is explicit that nothing here is safety-rated and no
Method is a safety function; what it imposes is a duty to report what
the safety system enforces and refuse work exceeding it. An integrator
specifying a profile is entitled to assume a robot declines an intent
its safety configuration forbids rather than attempting it. The process
facets are deliberately in no profile: a welding robot is a Path Server
that additionally claims RI-Process-ArcWeld, and bundling the process in
would have produced one profile per process with no way to say the
motion underneath is the same.

Both documents gain URI tables. A profile name is for a human and
ServerProfileArray holds URIs, so without stated values two Servers
implementing one profile publish different strings and no client matches
either.

Both gain definitions for conformance unit, facet and profile. Each used
"facet" throughout and defined it nowhere, and in the AI document
"profile" collides with the typed profile of a consuming specification,
which is a payload vocabulary and unrelated to conformance.

Profiles are added AFTER the facet tables. 13.2 is cited fourteen times;
moving it would have churned every reference for nothing.

validate_examples.py gates profile names against the profile table, so a
guide naming a shape the specification does not define fails the way a
misspelled facet does. Mutation-tested against a typo and an invented
name. It checks the name and not the claim, which its docstring says
plainly: whether a guide's facets cover the profile it names is a
judgement over prose, and a checker guessing at that would fail on
wording rather than substance.

The eleven guides name their profile. Eight reach Gateway, two reach
Device, one reaches Catalogue, and none reaches Lifecycle.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Separate a paragraph from the table it followed

The ServerProfileArray obligation sat on the line after the last facet
row, so markdownlint read it as a fourteenth row with one cell. My
pre-push check tested for a table glued after text and not for text
glued after a table; it now tests both directions.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

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Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

---------

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Say what this repository actually contains

The README explained how to contribute well and what exists badly. The
inventory was a Layout list of single-paragraph bullets -- the Data
Channels one ran to 1,900 characters -- carrying no version, no status,
and no link to any specification document. A reader could not get from
the README to a specification in one click, could not tell which of the
sixteen documents were under OPC Foundation review, and had no single
place saying what the whole effort is.

It is now one table per folder prefix, covering this repository and the
private submodule together, so the grouping is complete rather than
split by which repository a document happens to sit in today. That is
why wot appears at all: both its specifications are under review and the
tree has left, so a prefix-grouped list is the only place the reader
learns they exist. Columns are Specification, what it is and why it
exists, status, and documents -- markdown first, then Word.

Three specifications have no Word rendering and their cell says so with
an em dash rather than omitting the column, because the gap is worth
seeing: Vision, Robot Intent and AI Model Management have no clause map
under word-drafts/tools/specs/, which is what drives that build.

release_spec.py gains a third repair pass. It maintains this file when a
specification moves private -- capsuling the describing list item with
its original base64-encoded so a return restores it, and emptying links
into the moved tree -- and it understood list items and links, not table
rows. Without the pass the next release would leave a row advertising a
document that is no longer here.

Three things had to be right and were verified rather than assumed. The
row pass runs BEFORE the link pass, because afterwards every row already
holds a capsule around its own links and would be skipped, exactly as
the bullet pass skips such lines. The replacement keeps the row's cell
count, since collapsing four cells into two fails MD056. And only tables
whose last two columns are Status and Documents are touched, so a table
of another shape is left alone rather than rewritten into something the
function guessed at.

Return needed no new code: capsule_belongs_to already matches a capsule
by a link resolving into the returning set, and every row carries one.
Round trips for six specifications across four trees restore the file
byte-for-byte.

The five capsules for the specifications already under review encode the
table row they should become, not the bullet they used to be. Restoring
a 1,900-character bullet into a table cell would be worse than the gap
it filled.

The five reviewed specifications link to github.com/OPCF-Members rather
than to spec-drafts/ paths. The submodule is empty for everyone who is
not a member, so a relative link would fail check_links.py for them and
still open nothing.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Keep the capsule markers inside the table row's outer pipes

markdownlint counts a row's cells without stripping HTML comments, so a
closing marker after the final pipe leaves the row ending in content:
MD055 read it as a missing trailing pipe and MD056 counted a fifth cell.
Both markers now sit between the outer pipes, which is invisible to a
reader and correct to the parser.

My pre-push check stripped the comments before counting, which is
exactly why it passed locally and failed in CI. It now counts them the
way markdownlint does.

Round trips still restore byte-for-byte; the encoded original is the row
between its outer pipes rather than after the first one.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

* Trim the blank line at the end of the README

MD012 counts the newline after the final paragraph plus the file's own
terminator as two blank lines. My check read the file through
Get-Content, which drops that distinction, so it saw one.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa

---------

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa
@marcschier
marcschier merged commit 5aa7bff into main Aug 7, 2026
9 checks passed
@marcschier
marcschier deleted the robot-intent-spec branch August 7, 2026 07:28
marcschier added a commit to OPCFoundation/UA-.NETStandard that referenced this pull request Aug 8, 2026
# Description

Implement the draft **OPC UA — Robot Intent** companion model end to
end: task-level motion verbs, a Part 10 lifecycle, a server hosting
surface, a client, two samples and a live integration suite. It replaces
the opt-in convention API merged in #4127 with an implementation
generated from a companion information model.

## Why

OPC 40010-1 *Robotics* describes robot **topology** in detail and
defines **no motion verbs at all** — its entire actuation surface is
`Start`, `Stop` and loading a named program. A conformant client can
discover everything about a robot's construction and cannot ask it to
move anywhere. #4127 filled that gap with ten verbs in an
application-owned namespace, resolved by BrowseName, and the file said
what it was: *"opt-in, explicitly non-normative industrial operation
conventions"*.

That contribution established a **vocabulary**. It established no
**lifecycle**, and the lifecycle is the harder half.

A motion takes seconds; a pick takes a minute. OPC 10000-4 §5.12.2
discards a method result when the Session ends *"independent of the task
actually performed at the Server"* — so a synchronous motion method does
not merely time out, it **loses the outcome of work that has already
physically happened**. OPC 10000-10 §4.1 gives the OPC Foundation's own
resolution: a Method performs a calculation, a **Program** runs a batch
process or a machine tool part program.

So `SubmitIntent` returns as soon as the intent is *admitted*, and what
it returns is a NodeId — an `IntentOperationState` (a Part 10 program
instance) the client subscribes to for progress and reads for the
result.

## What changed

**Model and shared code** — `Opc.Ua.RobotIntent.NodeSet2.xml` is
source-generated in `Opc.Ua.Robotics`, so the enums, the polymorphic
intent structures, `IntentOperationState : ProgramStateMachineState`,
the method states and the typed clients derive from the model rather
than being hand-written. Its only `RequiredModel` is the base UA
namespace, so a server can adopt it without OPC 40010 or DI. `PoseMath`
implements the specification's Annex C conversion between its unit
quaternion and the core `ThreeDFrame` — including the `asin` clamp that
stops a pole orientation becoming a domain error, and the
non-negative-`w` representative that makes two servers agree on four
numbers. `FrameTree` composes transforms along the frame tree.

**Verbs are a DataType hierarchy, not one Method each.** A single
submission and a mission step are then the same shape, and a new intent
is a subtype rather than a new method — which is what
`AddOperation<TRequest,TResponse>` was working around.

**Server** — `IntentControllerHost` owns admission in the
specification's order, the queue with PLCopen buffer modes, blending,
cancellation *with the server's right to refuse*, missions with a
committed base and a revisable horizon plus an IEC 61131-3 step graph,
safety-aware refusals, real-time channel brokerage, and the capability
declaration. All thirteen Methods are wired; command authority and
channel leases are released when the holding Session closes; every
client-supplied NodeId is validated against the controller being
commanded (clause 11.3). `RobotIntentNodeManager`, the fluent
`IIntentControllerBuilder` and `AddRobotIntent`/`ConfigureRobotIntent`
make it reachable, and `RobotIntentFacetCalculator` computes which of
the specification's facets an instance actually satisfies.

**Client** — `RobotIntentClient` discovers
`Server/RobotIntent/Controllers` and reads what a robot accepts;
`IntentOperationHandle` subscribes and completes on a terminal state,
recovering the result after a reconnect because clause 6.7 promises it
survives; `CommandAuthorityLease` and `RealTimeChannelLease` manage the
two exclusive resources; fluent builders cover every intent and mission.

**Samples** — all robotics samples move under `samples/Robotics/`.
`IntentEnabledRobot` is one UR5e-style offset-wrist arm on a bench,
declared completely enough to show what a conformant server publishes,
with a simulated safety source so the clause 10.4 refusals are
demonstrable. `IntentViewerClient` turns a **click on a target prim in
the OpenUSD viewport** into an intent and watches the arm execute it; it
also runs headless, which is how CI exercises it.

**Intents execute serially**, which satisfies every `BlockingMode`
constraint by construction: the specification forbids beginning a
`Single` or `Hard` intent while another executes and merely *permits*
`None` and `Soft` to overlap.

The convention API (`RoboticsOperationConventions`,
`RoboticsOperationsBuilders`, `RoboticsOperationsClient`) is removed.

### On safety — what this deliberately does *not* claim

The interface is **non-safety-rated**, and that is a property of the
technology rather than a scoping choice. OPC 10000-15 carries cyclic
safety data from a SafetyProvider to a SafetyConsumer; the consumer's
`RequestSPDU` holds an identifier, a monitoring number and one octet of
explicitly **non-safety** flags, so a caller has no channel through
which to supply safety-rated arguments. Every safety fieldbus
(PROFIsafe, CIP Safety, FSoE, openSAFETY) expresses a safety command as
a **continuously asserted cyclic signal**, because the integrity
argument rests on the fail-safe state that follows when assertion
*stops* — and a Method call has no defined behaviour when it stops being
called.

What the host does instead is **observe and refuse**:
`UpdateSafetyState` is how the application reports what the safety
system is enforcing, and admission then refuses on the same values a
client can read, so a refusal is explainable from the address space
rather than from Server-internal state. It may never *instruct* the
safety system, and no Method here commands a safe motion function,
changes an operational mode or clears a stop.

## Defects this found in the specification, fixed upstream

Implementing a specification is the only way to find out whether it can
be implemented. Seven defects went back to
[marcschier/opcua-drafts#47](marcschier/opcua-drafts#47)
rather than being worked around here:

- **Refusal was unobservable.** Clause 6.2 orders six distinct refusals
and clause 5.8 calls the failure set "small and diagnosable on purpose"
— but `SubmitIntent` returned only `IntentId` and `Operation`, so a
client could see *that* something was refused and never *which*. It now
returns `Accepted`, `Failure` and `Message`, and clause 6.2 states that
a refusal returns `Good` rather than substituting a Bad `StatusCode`.
- **The Part 10 promotion was illegal.**
`IntentOperationType.ProgramDiagnostic` was declared as a Property of
`PropertyType`; OPC 10000-10 declares it a Variable of
`ProgramDiagnostic2Type` reached by `HasComponent`. The declaration
added a *second* member beside the inherited one instead of promoting it
— which is precisely why an earlier version of this branch had deleted
it. Correcting the TypeDefinition made it generate cleanly with **no
change to the curated Core**.
- **Clause 9 said nothing about the Method surface.** A server could
declare `MissionsSupported` true and omit `SubmitMission` entirely,
because the mission and channel Methods are Optional. This
implementation did exactly that until an integration test caught it. A
fourth honesty rule and a table now fix which Methods each declaration
implies.
- **Conformance was not machine-readable, and two implementations
disagreed.** Clause 12 defined conformance in terms of facets and gave a
Server nowhere to publish which ones it satisfied, so every client had
to re-derive Table 12.2 from the address space. This repository proved
why that fails: the server''s `RobotIntentFacetCalculator` and the
client''s `RobotIntentRules.DeriveFacets` each implemented clause 12.2
independently and **disagreed on essentially every row** — the client''s
`Blending` was `BlendingSupported` alone where the server also requires
all four blending buffer modes, its `QueuedIntents` was `MaxQueueDepth >
0` where the server also requires `Buffered`. A client and server from
the same release answered "does this controller conform?" differently,
and both were reading the specification correctly, because several rows
are behavioural and no amount of browsing settles them.
`IntentCapabilitiesType` now carries **`SupportedFacets`**, exactly as
OPC 10000-5 does with `ServerCapabilitiesType.ServerProfileArray`,
RI-Base requires it, and clause 12.2 separates structural requirements a
Server shall meet before listing a facet from attested ones governed by
clause 9.
- `WaitIntentDataType.Signal` was unbounded where clause 11.3 has to
check it; §11.3 gained a table fixing the expected type of every
NodeId-valued member; §5.7.0 gave `Ready`/`ActiveIntent`/`ActiveMission`
normative meaning; §6.9 bounded `RequestedLease`; §6.5 and §6.4 now say
what a server that cannot differentiate `StopMode` must do, and which
stop a superseded intent gets.

## Bugs the tests and reviews caught

Each of these would have been silent in the field:

- **The execution engine was never wired into the public API.**
`IntentControllerBuilder.RegisterAsync` built the address space and
never started an `IntentControllerHost`, so through the documented
`AddRobotIntent` → `ConfigureRobotIntent` path **every Method returned
`BadNotImplemented`** and the registered `IIntentExecutor` was never
resolved. A browsable address space is not a working robot interface,
and only a live integration test showed the difference.
- **NodeId scoping failed open on an empty index.** A controller
advertising `CallProgramIntentDataType` with no published `ProgramType`
accepted an *arbitrary* NodeId as `CallProgram.Program` — and
`CallProgram` runs code the server holds.
- **Blending completed the predecessor at submission time** and
abandoned its motion, telling the client it succeeded and publishing an
all-zero pose at the origin as a genuine `AchievedPose`.
- **Mission base immutability compared only identifiers**, so a client
could keep the ids and swap the *motion* of an already-committed step.
- **`FinalResultData/Result` was never registered** with the node
manager: Browse showed it, Read returned `BadNodeIdUnknown` — so clause
6.7's promise to a Part 10 client did not hold.
- `DisposeAsync` disposed primitives out from under in-flight executor
code; re-using a terminated `IntentId` destroyed the retained result and
duplicated a NodeId; neither side registered the Robot Intent
encodeables, so `Pose3DDataType` did not decode; host startup was hooked
to a task that ran in only one hosting shape.
- The result was published **after** the state went terminal;
capabilities were resolved against a stale namespace table; an empty
`ContentFilter` arrives as an empty element array rather than a null
filter, so testing only for null made every unconditional mission
transition silently untaken — a mission would run its first step and
stop.

### Found by a later test-quality audit, after the above was written

An audit of the test suite itself found five tests whose **names**
asserted a normative requirement while their **code** asserted something
weaker or nothing at all. The worst **fabricated the answer it
checked**: a helper caught a decode failure and invented "5 supported
intents, 6 axes, all facets true", so six capability-honesty assertions
across four tests could pass while reading nothing from the server. The
fallback is gone and the suite passes with honest reads.

Chasing the facet gaps it reported led to the clause 12 defect above.
Two further defects followed from completing that work:

- **`RI-Interop-40010` was never computed**, and the code documented the
omission as impossible to fix "because the calculator receives only a
Robot Intent controller, not the linked OPC 40010 model". That was
wrong: Annex B's structural requirement is an **inverse**
`HasIntentController` reference, reachable from `IntentControllerState`
— and the integration suite was already browsing exactly that. A server
implementing Annex B could not claim Annex B.
- **The published claim could go stale.** `SupportedFacets` was a
snapshot taken during `RegisterAsync`, so a reference attached
afterwards left it wrong. It is now bound through `BindRead` and
recomputed on read, so the claim tracks the address space by
construction rather than by discipline — which matters for anyone
bolting Robot Intent onto an existing OPC 40010 node manager, where the
attach ordering is often not theirs to choose.

Two tests that **could not fail** were also replaced: one asserted
`AccessLevel` equals `CurrentRead` to pin a read-only marking, but
`BaseVariableState` initialises every variable to exactly that, so
deleting the marking left it green; it is now a write expecting
`BadNotWritable`, including a real OPC UA `Write` service call over a
live session.

Finally, a build break that a plain build hides: `RoboticsAotTests` used
`out string?` in a project declaring `<Nullable>disable</Nullable>`.
Building the project **without** `-f` suppresses `CS8632` through
`NoWarn=nullable` and succeeds; building it **with** `-f net10.0`
resolves `NoWarn` differently, `CS8632` fires, and
`TreatWarningsAsErrors` makes it an error. CI builds per-TFM, so this
would have failed there while passing every local build to that point.

## Testing and coverage

| | |
|---|---|
| `dotnet build UA.slnx -t:Rebuild` | **0 errors, 2 warnings** — both
pre-existing `CA1861` in `tests/Opc.Ua.Tools.Tests`, a file this PR does
not touch |
| **Whole `UA.slnx` test suite, net10.0** | **50 of 52 assemblies fully
green** (measured at `40d9cf213`, before the `master` merge; the other
two are explained below) |
| `Opc.Ua.Robotics.Tests` | **467** net10.0, **447** net48 |
| `Opc.Ua.Robotics.Intent.Tests` (live client <-> server) | **20** on
net10.0 and net48, run repeatedly |
| `Opc.Ua.OpenUsd.Tests` | **904** after merging `master` (664 before;
the rest arrive with #4160 / #4162 / #4180) |
| `Opc.Ua.Aot.Tests` | **121/121** |
| `Opc.Ua.Di.Tests` (regression from the sample move) | **364/365**, one
pre-existing skip |
| **Changed-line coverage** | **90.7 %**, no file below 80 % —
comfortably above the enforced band, which after #4158 applies only to
patches larger than 100 changed lines |

The two non-green assemblies are **not** caused by this branch. Rather
than assert that, I ran the same selections at the merge-base
`ae241b662` on the same machine:

-
`ServiceCallReassemblerTests.PrivateRequestSummaryFormatsKnownRequestKinds`
expects `12.5` and gets `12,5` — a culture-sensitive assertion failing
on a European locale. Fails 4/4 on **both** commits.
-
`CertRotationLiveTests.L2Cert2RotateCertificateDuringServerRestartRecoversSharedChannelAsync`
fails on a teardown count. Fails 4/4 on **both** commits.
- A third failure seen once, AOT `FindServersAsync` with
`BadSecureChannelClosed`, did not reproduce: 4/4 on retest and 121/121
in the final run. Environmental.

Two things are worth calling out because they would otherwise be
invisible:

- `tools/**` is **not** in the `coverage-thresholds.json` ignore list,
and no test project referenced the OpenUSD tools assemblies — so their
changed lines counted as uncovered and the real patch figure was 75 %,
exactly the blocking threshold. Rather than widening the ignore list,
the pure decisions in the viewport host (pointer-to-physical-pixel
conversion, `RenderPickRequest` construction, stale-retry, backend
discovery, pick-mode selection) were separated from the Avalonia/native
shell and tested headless against a fake picking backend.
- `dotnet build UA.slnx` **hides warnings on unchanged projects**; only
`-t:Rebuild` surfaces them. That is how a `CA2263` introduced by a net48
portability fix survived several "zero warning" builds.

The multi-target requirement earned its keep repeatedly: it caught a
default interface implementation, `ArgumentNullException.ThrowIfNull`,
`string.Create` with an interpolated handler,
`ValueTask.FromResult`/`CompletedTask`, `Task.WaitAsync`, generic
`Enum.GetValues` and generic `Enum.IsDefined`, and a non-generic
`TaskCompletionSource` — none of which the net10.0 build complained
about. A net10.0-**only** hang in the simulated executor and two
load-sensitive flaky tests were also found and fixed at the cause.

### Merged with `master`

`master` (through `e73e71184`) is merged in as `08205d81d`. Four
conflicts, all where the two branches touched the same robot and OpenUSD
surfaces, and none resolved by dropping a side:

- #4162 added six files to `samples/MinimalRobotServer/` while this
branch moved that directory to `samples/Robotics/MinimalRobotServer/`.
They are kept at the moved path, and `UA.slnx` takes the union of both
sides' new projects.
- #4160 replaced `object` with a `UsdValue` union and rewrote `Flatten`;
this branch had reformatted the same method and fixed a path in its doc
comment. Git produced a hybrid that did not compile. The resolution
keeps `master`'s `UsdValue` arm and `Flatten(UsdValue)` overload in this
branch's block-bodied form, with the path fix retained.
- `master` inserted `FindStageCamera` directly before two methods this
branch had relocated, so the merge duplicated `WriteStageUsda` and
`GetPrivateStateRoot`. Only `FindStageCamera` is genuinely new —
`master`'s diff shows the other two as unmodified context — so the
duplicates are dropped and this branch's `internal` versions kept,
including the `GetPrivateStateRoot(string?)` overload the connector
tests use to stay out of the real user profile.
- `master` moved the OpenUSD stack to `0.4.0-alpha`; this branch pins
`OpenUsd.Rendering` in the test project so the renderer-pick tests can
reach the picking backend. Left at `0.1.0-alpha` that pin is below what
the viewer now resolves transitively, which is `CS1705`. The pin follows
`master`.

CI was green on `baaf35e9` with **190 checks passing and none failing**,
across every build leg (net472 / net48 / netstandard2.0 / netstandard2.1
/ net8.0 / net9.0 / net10.0, Debug and Release) and the full test matrix
on Windows and Linux. Since then `master` has been merged twice more and
two CI-stability fixes landed (see below), so the current head is
re-running. Locally, `dotnet build UA.slnx -t:Rebuild` gives **0
errors** and the 2 pre-existing `CA1861` warnings; Robotics **467**
net10.0 / **447** net48, Robot Intent **20** on both, OpenUSD **904**,
AOT **121/121**, source generation **3771**.

### Review round

Five reviewers over disjoint areas found defects worth calling out, all
fixed in `3ffec2c1`:

- **A refused mission step was reported `Succeeded`.** The advance path
returned the same `false` for "steps exhausted" and "step refused", so a
protective stop between steps told a supervisory system the mission had
completed while the robot stood halted with work unexecuted.
- **Three attacker-controlled NodeIds reached the executor unvalidated**
— `Pick.Tool`, `Place.Tool`, `ToolChange.DockStation`. `DockStation`
drives a physical tool-exchange motion to a location the server never
authorised. The replacement test enumerates NodeId members by reflection
so the next one added cannot be missed.
- **A lock-order inversion that loses a stop.** `CanCancel` and the
mission condition evaluator ran under the host lock while the executor's
own thread re-entered it via `ReportBlendBegin`.
- **A non-terminal executor outcome killed the pump** from outside the
`try/catch` that exists because the executor is untrusted — `Ready`
stayed true and submissions kept being accepted while nothing moved.
- **`Pause` published `Suspended` while the robot kept moving.** Now
queue-only and honest about it; the specification gained the matching
rule ([opcua-drafts
`357a558`](marcschier/opcua-drafts#47)).
- **`RI-RealTimeChannel` and `RI-Safety` were false claims** — granted
on an empty folder with no methods, and on the mere presence of a
Mandatory node.
- **The Part 10 promotions never promoted.** Namespace-1 BrowseNames
declared second members beside the inherited ones; the conformance test
could not see it because its lookup stripped the prefix. Fixed upstream
and regenerated.
- **Renderer picking never worked.** The reflective probe bound a
renderer that is not a picking backend and throws off its owner thread.
It now binds only `IRenderPickingBackend`, falls back immediately and
loudly, and the docs say plainly that renderer picking is unavailable
with this package version.
- **The client lost command authority the instant it gained it** —
monitored items report the current value first, and the lease treated
every notification as a loss.

### CI stability fixes for master-side failures

The CI split in #4158 turned on legs that had never run, and two of the
failures they exposed were real bugs on `master` rather than anything
this branch introduced. Both are fixed here because they were blocking
every branch:

- **ECC key generation was broken on macOS.** `ExportExplicitParameters`
throws `PlatformNotSupportedException` there — Apple's
SecurityTransforms supports named curves only — and it was called for
exactly one value, the curve order `n`. The four curves OPC 10000-12
admits have published orders, so those are carried directly, with
`CurveOrderTableMatchesThePlatform` checking each against the platform's
own exported order wherever export works, so the constants cannot
silently drift. This accounts for the two ECC failures in
`test-macOS-latest-Server`.
- **The certificate-leak detector raced asynchronous disposal.** It
polled a fixed budget and reported whatever it saw, which cannot
distinguish a genuine leak (count steady) from a suite still draining
fire-and-forget disposals (count falling) — on a loaded agent that
produced `Certificate leak detected: 2 instance(s)` with every test
passing. It now waits for the count to **settle**, so a real leak is
reported sooner than before while a slow drain gets as long as it keeps
progressing. Shared by every suite that asserts no certificate leaks.

The remaining macOS failures on `master` (`Gds`, `Tools`,
`Redundancy.Samples`, `aot-macos`) have different root causes, are not
reproducible without a macOS host, and are **not** addressed here.

### Merged with `master` again

`master` through `416d619c4` (#4158, the CI matrix split and graduated
coverage bands) is merged in as `08ae4528`. One conflict, in
`docs/DeveloperGuide.md`, where both sides had deliberately rewritten
the coverage-gate section:

- `master`'s rewrite is kept in full — graduated `patch.bands`, Codecov
being informational-only, and where the numbers surface per CI system.
- This branch's paragraph about the `ignore` globs is kept too, re-sited
ahead of those subsections. I re-checked it against the merged
`coverage-thresholds.json` rather than assuming it still held: the list
is still `tests/**`, `samples/**`, `obj`, `bin`, `*.g.cs`, with
**`tools/**` absent** — so the warning that anything under `tools/` is
measured like product code, and that an assembly no test project
references contributes changed lines counted as *uncovered*, is still
accurate and worth keeping.
- `master`'s "reproduce a coverage failure locally" line supersedes this
branch's near-identical one, so only `master`'s survives.

Post-merge: `dotnet build UA.slnx -t:Rebuild` **0 errors**, 2
pre-existing `CA1861`; Robotics **467** net10.0 / **447** net48; Robot
Intent **20** on both.

### Getting CI green

The pipeline had never actually run on this branch until now (it was
waiting on the fork-PR approval gate), so the first run surfaced four
real problems, each fixed at source:

- **Seven build legs failed** because `IntentEnabledRobot` pins
`net10.0` for the OpenUSD payload but never opted into
`RestrictForLegacyTfm`. On the legacy legs the libraries build as
net472/net48, where `Opc.Ua.Types` exposes the `System.Threading.Lock`
polyfill publicly, and that collides with the sample's own net10.0 BCL
(`CS0433`). `Opc.Ua.OpenUsd.Connector.Viewer` was already using the
opt-out for the same reason.
- **A Linux-only test failure** turned out to be a real defect, not a
platform quirk: `SetPose` published the *commanded* interpolated pose
beside joint frames derived from the *solved* joints, so the two
disagreed by the inverse-kinematics residual — about 8 mm, constant
after any real motion. That is the lying-digital-twin defect one level
deeper than the per-step IK fix reached. `SetPose` now derives both from
the joint angles.
- **Three source-generator tests** asserted the old emitted shape. The
clause 6.2 Null-Variant fix was implemented in
`ObjectTypeProxyGenerator` so every generated proxy benefits, which
changed that shape; the tests are updated and strengthened to pin the
`IsNull` branch as well.
- **A CI-only timeout** in the simulated arm drain: the executor runs on
a manual clock so the tests do not depend on machine speed, but the
drain guarded itself with a wall-clock deadline, which put that
dependence back. CI runs with coverage instrumentation, which is enough
to take a per-step IK probe from ~0.6 s to over 5 s. The guard is now a
simulated step budget.

One failure was **not** from this PR and did not recur: a Roslyn
`AccessViolationException` compiling `Opc.Ua.ISA95` on one leg, while
the Debug leg of the same target passed on identical code and the
Release build succeeds locally.

## Related Issues

- Relates to #3827 — the request that prompted the robotics intent work.
- Builds on #4127.

The companion specification is drafted in the open at
[marcschier/opcua-drafts#47](marcschier/opcua-drafts#47)
(`metaverse-specs/robot-intent/`), with the prior art and the reasoning
behind each decision in the research document beside it. **Nothing in it
is normative or endorsed by the OPC Foundation, and its NodeIds and
namespace URI are provisional** — which is the main reason this is a
draft.

## 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.
- [x] I have added all necessary documentation.
- [x] I have verified that my changes do not introduce (new) build or
analyzer warnings.
- [x] 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.

On the test checkbox, precisely: the whole `UA.slnx` suite now runs on
net10.0 with **50 of 52 assemblies fully green**, and
`Opc.Ua.Robotics.Tests` passes on **all five** target frameworks
including net472, net8.0 and net9.0 which had never previously been
exercised. The two remaining failures are reproduced identically at the
merge-base and are detailed above, so I have ticked the box; if you
would rather it stayed unticked until those two are green, say so and I
will revert it.

## Points I would most like feedback on

1. **The namespace and NodeIds are provisional.** They come from a draft
specification, not from the OPC Foundation. If this lands before the
model is registered, the identifiers will move.
2. **The model lives in `Opc.Ua.Robotics`.** It is standalone on the
base UA namespace and takes no dependency on OPC 40010, so a separate
`Opc.Ua.RobotIntent` package would arguably be cleaner. Keeping it here
was a deliberate call — this is where the robot-facing API already is —
but it is the easiest thing to change now and the hardest later.
3. **Removing the convention API from #4127 is a breaking change** for
anyone who adopted it. It was explicitly marked non-normative, so I have
assumed that is acceptable — please say if a deprecation period is
wanted instead.
4. **Serial execution** is a deliberate simplification. Concurrent
`None`/`Soft` intents would be an optimisation, not a correction, but it
is worth agreeing that reading.
5. **`samples/Robotics/` reorganisation** moves `MinimalRobotServer`.
Happy to split that into its own commit if it makes review easier.

---------

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa
Copilot-Session: a248a589-9a20-4372-868e-5d347e57001b
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