This is a python app for teleoperating a robot arm using the WebXR capabilities on your phone.

python -m venv venv
source venv/bin/activate
pip install -r requirements.txt

or just install uv and let it manage everything else just-in-time.

curl -LsSf https://astral.sh/uv/install.sh | sh

tailscale serve --bg localhost:8000

Available within your tailnet:

https://yourhostname.your-tailnet-domain.ts.net/
|-- proxy http://localhost:8000

Serve started and running in the background.
To disable the proxy, run: tailscale serve --https=443 off

cp .env.example .env

and then add a SIXDOFONE_SHARED_SECRET by following the instructions in your new .env file.

Also set USE_NGROK or USE_TAILSCALE to something nonempty, to pick one of them to use.

Inside the python virtual environment, run:

python app.py

or if you are using uv, just run

./app.py

and it will manage the virtualenv and dependencies for you.

This will start the server on http port 8000, which tailscale will expose as https://yourhostname.your-tailnet-domain.ts.net/.

Some notes:

• You do not need nodejs in order to run the python server.
  • I did add @ts-check to the top of some files though, and you can run npm install to get clean type-checking in vscode.
  • Once https://tc39.es/proposal-type-annotations/ is implemented in some browsers, I will probably switch to using that.
  • I may add some CI checks for the typescript bits in the future. No promises.
• I initially picked flask because I heard a rumour that this is what lerobot are using for some of their tools. I might switch to something pydantic/fastapi-based at some point though.