CobotAR-Protocol

A collection of protobuf messages for the CobotAR-project

Current version: 1.0.8

Documentation

Find it here: documentation/README.md

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NATS subject convention

CRUD

add: edit.<domain>.add
update: edit.<domain>.update
delete: edit.<domain>.delete
get: get.<domain>.one
getByIds: get.<domain>.some
getAll: get.<domain>.all

Events

Subject shape: <kind>.<domain>.<type>.<scope..> where:

kind: {command | event | plan | telemetry}
domain: {robot | task | asset | ...}
type: event type as lower_snake_case string token (start_stop, started, task_completed, etc.)
scope optional identifiers for routing (robotId, taskId, assetId, lineId, etc.). Generally following this:
```
<kind>.<domain>.<type>.<site>.<workcell>.<entityId>[.<planId>]
```

Examples:

command.robot.start_stop.workcellA.robot-1
plan.robot.path.workcellA.robot-1.plan-P123
telemetry.robot.state.workcellA.robot-1
event.robot.started.workcellA.robot-1
event.plan.cancelled.workcellA.plan-P123

Conceptual design of Assembly processes

A. Product definition (What the thing is)

Parts
Assemblies / sub-assemblies
Product BOM / hierarchy
Part occurrences / instances
CAD / 3D model references
Mating / connection hints if you have them

B. Process template (How the thing is normally assembled)

Process recipe
Sequences / sub-sequences
Tasks / operations / steps
Preconditions / ordering / alternatives / variants
Required tool roles, skill requirements, actor constraints
Operator text

C. Execution instance (What is happening right now on the floor)

Running process
Current state of sequences/tasks
Assigned human(s)/robot(s)
Start/end timestamps
Current station
Evidence / completion / faults / overrides

D. Resource library (What can be used to perform the work)

Humans
Robots
Tools
Fixtures
Assets
Stations / cells
Models

E. Capability layer (Why a given resource can or cannot do a task)

Skills
Capability profiles
Tool roles
Constraints
Validity / training / retraining / calibration / certification

Distinguish type from instance

Example: Part. In assembly we usually need both:

Part definition: “M4x12 screw”
Part occurrence: “the third M4x12 screw in this assembly”

thus distinguishing between the two is important and must be supported and done consistently.

Minimal TaskDefinition example

TaskDefinition {
  id: "task-fasten-cover-screw-1"
  name: "Fasten cover screw 1"
  instruction_text: "Fasten screw 1 to 0.8 Nm"
  task_type: TASK_TYPE_FASTEN
  target: {
    target_node_id: "node-screw-1"
    target_part_definition_id: "part-m4x12"
    local_target: {
      anchor_id: "node-screw-1"
    }
  }
  tool_requirements: [{
    role: TOOL_ROLE_APPLY_TORQUE,
    required_properties: [TOOL_PROPERTY_TORQUE_CONTROLLED],
    minimum_capability: {
      min_torque_nm: 0.72,
      max_torque_nm: 0.88
    }
  }]
  skill_requirements: [{
    skill_id: "SK-APPLY-CONTROLLED-TORQUE",
    minimum_level: SKILL_LEVEL_QUALIFIED
  }]
  validation: {
    require_tool_feedback: true
    allow_manual_confirmation: true
    manual_confirmation_min_level: SKILL_LEVEL_QUALIFIED
  }
  execution_policy: {
    assignment_preference: TASK_ASSIGNMENT_PREFERENCE_EITHER
    actor_constraint: {
      allowed_actor_kinds: [ACTOR_KIND_HUMAN, ACTOR_KIND_ROBOT]
      collaboration_mode: COLLABORATION_MODE_SEQUENTIAL_HRC
    }
  }
}

Variant handling

Types of variants

Bucket A — Structural variants

Affect product tree. Modeled in product.

Examples:

hinge side
optional handle
different fastener family
extra sensor module

Bucket B — Workflow variants

Affect tasks/sequences/skills/tools/validation. Modeled in recipe applicability or recipe branching.

Examples:

door must be flipped
adhesive cure step required
fragile part requires two-person lift
robot can only assemble one orientation

Bucket C — Parametric variants

Do not change workflow structure. Passed at run-time.

Examples:

color
language
customer text
batch number
cosmetic finish code

Handle variants without recipe explosion

For a product family, do this:

One ProductDefinition
- Contains all structural possibilities.
Few ProcessRecipes

Only split recipes where the workflow truly differs. For example:
- recipe-door-standard
- recipe-door-flipped-fixture
- recipe-door-adhesive
Not:
- red-left-short-handle
- red-left-long-handle
- blue-right-short-handle
- …
One ProcessRun per actual order/build

Contains:
- selected product configuration
- runtime parameters

Example

Product dimensions

hinge_side = left | right
color = red | green | blue
handle = short | long

Recipe

recipe-door-standard is applicable when:
- handle = short or long
- color = any
- hinge_side = left
recipe-door-flipped is applicable when:
- hinge_side = right

They need to be split into two recipes because right-hinge requires a flip operation and different fixture.

Process run

When a real order starts the selection might look like this:

product_selection:
  hinge_side = right
  color = green
  handle = long

thus the system chooses the recipe-door-flipped recipe and the recipe stays the same regardless of color.

Metadata

Release files for cobotar-protocol 1.0.8

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for cobotar-protocol 1.0.8
File	Size	Uploaded
cobotar_protocol-1.0.8.tar.gz	1.1 MB	Sep 13, 2026	Details

Built distribution (wheel)

Table of built distributions (wheels) for cobotar-protocol 1.0.8
File	Interpreter	ABI	Platform	Reset
cobotar_protocol-1.0.8-py3-none-any.whl 276.0 kB Sep 13, 2026	Python 3	none	any	Details

Total release size: 1.4 MB

Release files / cobotar_protocol-1.0.8.tar.gz

Download URL	cobotar_protocol-1.0.8.tar.gz
Size	1.1 MB
Tags	Source
SHA-256 checksum How to use checksums	`812953fcebf10e6c182b86d62f4f62001287d14cec26260a6ca1de7cc78d75f8`
BLAKE2b-256 checksum How to use checksums	`9a89671f0973ea043479b2692de064e7988b79b11149c58048101c27c7c98cd7`
Upload date	Sep 13, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/7.0.0 CPython/3.13.14`

Provenance

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Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/cobotar/protocol
Publishing commit: github.com/cobotar/protocol/tree/9f7fd6cbb0b7963e214c3a7dbef75eea14f349a6

Workflow

Publishing configuration: github.com/cobotar/protocol/blob/9f7fd6cbb0b7963e214c3a7dbef75eea14f349a6/.github/workflows/publish-pypi.yml
Publishing logs: github.com/cobotar/protocol/actions/runs/34742620078/attempts/1

Artifact

Subject: cobotar_protocol-1.0.8.tar.gz
SHA-256 checksum: 812953fcebf10e6c182b86d62f4f62001287d14cec26260a6ca1de7cc78d75f8 Verifying attestations

Release files / cobotar_protocol-1.0.8-py3-none-any.whl

Download URL	cobotar_protocol-1.0.8-py3-none-any.whl
Size	276.0 kB
Tags	Python 3
SHA-256 checksum How to use checksums	`279c5c4af0ab40742f73977f6ff8256c79b7c4d8c17c1d7d3f89aa044a00ab1a`
BLAKE2b-256 checksum How to use checksums	`9f3427e7f63f954da438a59dcb0c859afde004ffb57f561b3382f2c2440a01bd`
Upload date	Sep 13, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/7.0.0 CPython/3.13.14`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/cobotar/protocol
Publishing commit: github.com/cobotar/protocol/tree/9f7fd6cbb0b7963e214c3a7dbef75eea14f349a6

Workflow

Publishing configuration: github.com/cobotar/protocol/blob/9f7fd6cbb0b7963e214c3a7dbef75eea14f349a6/.github/workflows/publish-pypi.yml
Publishing logs: github.com/cobotar/protocol/actions/runs/34742620078/attempts/1

Artifact

Subject: cobotar_protocol-1.0.8-py3-none-any.whl
SHA-256 checksum: 279c5c4af0ab40742f73977f6ff8256c79b7c4d8c17c1d7d3f89aa044a00ab1a Verifying attestations