Dorna 2 uses a WebSocket based API for communication between the user and the robot controller. After establishing a WebSocket connection via the IP address of the robot, the user and controller will exchange real time commands from user software to the controller and messages from controller to the user software, in order to control the robot and receive its current status. In this document we will go over the set of commands and messages of the API.
Connecting to the Websocket
To begin working with the API, you must first connect to the WebSocket server of the robot through the robot IP address.
The WebSocket server runs on port
443 of the robot
For example, if the robot IP address is
192.168.1.2, then the Websocket address is,
Dorna lab and our Python API are two convenient ways to establish the websocket interface with the robot. However, you can use any other programming tool for establishing the websocket connection to the controller and sending commands and receiving the messages.