  When designing plans in engineering, it is often necessary to consider
attributes associated to objects, e.g. the location of a robot. Our aim in this
paper is to incorporate attributes into existing categorical formalisms for
planning, namely those based on symmetric monoidal categories and string
diagrams. To accomplish this, we define a notion of a "symmetric monoidal
category with attributes." This is a symmetric monoidal category in which
objects are equipped with retrievable information and where the interactions
between objects and information are governed by an "attribute structure." We
discuss examples and semantics of such categories in the context of robotics to
illustrate our definition.
