We present an expressive, concise, and extendable domain specific language for planning of assembly systems, such as industrial human robot cooperation. Increased flexibility requirements in manufacturing processes call for more automation at the description and planning stages of manufacturing. Procedural models are good candidates to meet this demand as programs offer a high degree of flexibility and are easily composed.

Furthermore, we aim to make our programs close to declarative specification and integrate automatic reasoning tools to help the users. The constraints come both from specific programs and pre-existing knowledge base from the target domain. The case of human robot collaboration is interesting as there is a number of constraints and regulations around this domain. Unfortunately, automated reasoners are often too unpredictable and cannot be used directly by non-experts.

In this paper, we present our domain specific language ``Tool Ontology and Optimization Language'' (TOOL) and describe how we integrated automated reasoners and planners in a way that makes them accessible to users which have little programming knowledge, but expertise in manufacturing domain and no previous experience with or knowledge about the underlying reasoners. We present encouraging results by applying TOOL to a case study from the automotive and aerospace industry.