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.txtor just install uv and let it manage everything else just-in-time.
curl -LsSf https://astral.sh/uv/install.sh | sh#### Option A: Setup tailscale on all devices
This is recommended so that your phone can talk to your computer over https. You could use ngrok instead if you want.
Once you have installed tailscale on all devices, you can set up https-to-http proxying by doing:
tailscale serve --bg localhost:8000It should print something like:
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
#### Option A: Setup tailscale on all devices
This is the quickest way to get things set up, but you may find that ngrok adds quite a lot of latency. If you find yourself only getting a couple of poses per second then consider switching to tailscale.
- Go to https://ngrok.com and sign up
- run
ngrok config add-authtoken <your auth token>to make ngrok happy- if you don't have ngrok installed, just plough through and let it fail when running, then try again (pyngrok will install ngrok for you)
cp .env.example .envand 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.pyor if you are using uv, just run
./app.pyand 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 installto 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 did add @ts-check to the top of some files though, and you can run
- 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.