Ink data model

Tatbot represents consumables as versioned data so a design or experiment can state which material assumptions it used. The public interface is a schema and ledger shape, not a purchasing or human-use procedure.

Rules

• The installed palette is calibration palette v11 in urdf/palette.urdf, six caps independent of the robot URDF. See palette geometry and calibration. Its pose comes only from a fresh tag measurement; there is no fixed-URDF or single-point fallback.

• Use stable identifiers and explicit units.

• Record whether a value is measured, estimated, or a default.

• Keep append-only events separate from derived balances.

• Do not commit private inventory, supplier, or operator records.

CLI

The operator surface is six tatbot ink verbs over scripts/ink.py: ink status (reads; --session for the open session, --ledger [-n N] for the event tail), ink mise-en-place (the pre-session checklist for the stated --ee-tool; --strokes dry-runs the dip planner), ink session start / ink session end (what the next run debits), ink edit -- <load|dump|bottle| cartridge|caps|reconcile|weigh> … (the one mutates-config verb: it rewrites the tracked load/inventory files or appends a ledger event, and refuses any subcommand that does not write), and ink sync (remote: copies other nodes’ ledgers here). Anything else ink.py offers, such as fit or session rebuild <id>, passes through tatbot ink -- … as offline. tatbot ink <verb> --explain states the tier and gates.

Consumers should validate the schema at read time and fail closed on an unknown version. Private load, fit, and acceptance workflows stay in the internal repository documentation.