Dorna Workspace

A Python SDK + Tornado orchestrator + 3D viewer + MQTT device bus for robotic lab automation. Manages Dorna robots, custom components (racks, tools, fixtures), USB / serial / network devices, and behaviour-tree-planned workflows from a single web UI.

Documentation

• For human contributors: start at docs/project-guide.md for the workflow / project model, then the relevant guide for what you're working on — device-guide.md, component-guide.md, recipe-guide.md, or bt-framework-guide.md.
• For AI / Claude sessions: read CLAUDE.md and .claude/skills/README.md — the task- focused playbook with conventions and pointers to canonical doc sections.

Installation

Install the workspace package (run once, or after a fresh OS setup):

sudo pip3 install --break-system-packages -e /home/dorna/Downloads/workspace/workspace/

This installs it as an editable package — code changes are live, no reinstall needed.

Remote access

ssh -p 52022 <device_username>@<your_public_ip>

Finding a USB-serial port (pipette, syringe, multimeter, etc.)

/dev/ttyUSB0 enumeration order is NOT stable across reboots / replugs. Use the udev-managed by-id path instead — it survives both:

ls -d /dev/serial/by-id/*

Paste the full /dev/serial/by-id/<symlink> path into the device's port field in scene yaml. See docs/device-guide.md §9 for the full discovery walk + caveats (generic CP2102 serials, etc.).

Server

cd /home/dorna/Downloads/workspace/workspace
sudo python3 gui/server.py

This starts both the orchestrator and scene builder on one port:

• Orchestrator: http://<ip>:5000/orchestrator/
• Scene Builder: http://<ip>:5000/scene-builder/

pick or place function

Grippers has an anchor called tcp Solids has two anchors center

• top is later be matched with gripping_point for picking
• center is later be matched with the parent anchor for placing

Collision boxes

Collision boxes are defined in the component's .py file, typically alongside the anchor definitions. (please take a look at examples)

The collision_box variable is a dictionary that maps each solid part of your component to a list of bounding boxes. This structure allows you to use one or multiple boxes to accurately encapsulate a solid's shape.

Dictionary Structure:

• Key: The name of the solid (e.g., "body").

• Value: A list of dictionaries, where each dictionary represents a single collision box.

Example: Component with a Single Box

collision_box = {"body":[
                {"pose":[0.0, 0.0, 4.0, 0.0, 0.0, 0.0], "scale":[150.0, 100.0, 8.0]}
        ]}

Every collision box must contain the following two properties:

• "pose": A standard Dorna API pose array [x, y, z, rx, ry, rz]. The x, y, z coordinates define the center of the box, and rx, ry, rz define its rotation (which is usually left as zero).

• "scale": An array ‍‍[lx, ly, lz] that dictates the size of the box along each axis. Note: These values represent the full side lengths, not the half-lengths.

For most simple objects, a single box is sufficient to wrap the shape without leaving large gaps. However, for more complex components, you can define multiple boxes inside the list to create a tighter, more accurate collision boundary.