From 3e746e7b208b812c87a807d60e1be329a841188e Mon Sep 17 00:00:00 2001
From: ruthwikdasyam <ruthwikdasyam@gmail.com>
Date: Thu, 19 Feb 2026 00:49:34 -0800
Subject: [PATCH 01/13] initial commit

---
 dimos/teleop/phone/web/fastapi_server.py | 118 +++++++++++++++++++++++
 1 file changed, 118 insertions(+)
 create mode 100644 dimos/teleop/phone/web/fastapi_server.py

diff --git a/dimos/teleop/phone/web/fastapi_server.py b/dimos/teleop/phone/web/fastapi_server.py
new file mode 100644
index 0000000000..83f2a1bf4b
--- /dev/null
+++ b/dimos/teleop/phone/web/fastapi_server.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Phone Teleop FastAPI Server.
+
+Replaces the Deno WebSocket-to-LCM bridge with a Python FastAPI server.
+Extends RobotWebInterface to serve the phone teleop web app and forward
+WebSocket binary LCM packets to the LCM network via UDP multicast.
+"""
+
+from __future__ import annotations
+
+from pathlib import Path
+import socket
+import struct
+
+from fastapi import WebSocket, WebSocketDisconnect
+from fastapi.responses import HTMLResponse
+from fastapi.staticfiles import StaticFiles
+
+from dimos.utils.logging_config import setup_logger
+from dimos.web.robot_web_interface import RobotWebInterface
+
+logger = setup_logger()
+
+# LCM default multicast group and port
+LCM_MULTICAST_GROUP = "239.255.76.67"
+LCM_MULTICAST_PORT = 7667
+
+STATIC_DIR = Path(__file__).parent / "static"
+
+
+class PhoneTeleopServer(RobotWebInterface):
+    """Phone teleoperation server built on RobotWebInterface.
+
+    Adds a WebSocket endpoint that bridges binary LCM packets from the
+    phone browser to the LCM UDP multicast network.
+    """
+
+    def __init__(
+        self,
+        port: int = 8444,
+        lcm_multicast_group: str = LCM_MULTICAST_GROUP,
+        lcm_multicast_port: int = LCM_MULTICAST_PORT,
+    ) -> None:
+        super().__init__(port=port)
+        self.lcm_multicast_group = lcm_multicast_group
+        self.lcm_multicast_port = lcm_multicast_port
+        self._udp_sock: socket.socket | None = None
+
+        self._setup_teleop_routes()
+
+    # ------------------------------------------------------------------
+    # LCM UDP socket
+    # ------------------------------------------------------------------
+
+    def _ensure_udp_socket(self) -> socket.socket:
+        """Create (or reuse) a UDP socket for LCM multicast publishing."""
+        if self._udp_sock is None:
+            sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
+            sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, struct.pack("b", 1))
+            self._udp_sock = sock
+            logger.info("LCM UDP multicast socket created")
+        return self._udp_sock
+
+    def _publish_lcm_packet(self, data: bytes) -> None:
+        """Send a raw LCM packet to the multicast group."""
+        sock = self._ensure_udp_socket()
+        sock.sendto(data, (self.lcm_multicast_group, self.lcm_multicast_port))
+
+    # ------------------------------------------------------------------
+    # Routes
+    # ------------------------------------------------------------------
+
+    def _setup_teleop_routes(self) -> None:
+        """Add phone-teleop-specific routes on top of the base interface."""
+
+        @self.app.get("/teleop", response_class=HTMLResponse)
+        async def teleop_index() -> HTMLResponse:
+            index_path = STATIC_DIR / "index.html"
+            return HTMLResponse(content=index_path.read_text())
+
+        if STATIC_DIR.is_dir():
+            self.app.mount("/static", StaticFiles(directory=str(STATIC_DIR)), name="teleop_static")
+
+        @self.app.websocket("/ws")
+        async def websocket_endpoint(ws: WebSocket) -> None:
+            await ws.accept()
+            logger.info("Phone client connected")
+            try:
+                while True:
+                    data = await ws.receive_bytes()
+                    try:
+                        self._publish_lcm_packet(data)
+                    except Exception:
+                        logger.exception("Failed to forward LCM packet")
+            except WebSocketDisconnect:
+                logger.info("Phone client disconnected")
+            except Exception:
+                logger.exception("WebSocket error")
+
+
+if __name__ == "__main__":
+    server = PhoneTeleopServer()
+    server.run()

From 35c8dd53f56e922b777a3e67d4013ebf201d1c86 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 13:43:15 -0800
Subject: [PATCH 02/13] feat: chhange from deno to python server - using
 fastAPI

---
 dimos/teleop/phone/phone_teleop_module.py | 157 ++++++++++++----------
 dimos/teleop/phone/web/fastapi_server.py  | 118 ----------------
 dimos/teleop/phone/web/teleop_server.ts   |  85 ------------
 3 files changed, 85 insertions(+), 275 deletions(-)
 delete mode 100644 dimos/teleop/phone/web/fastapi_server.py
 delete mode 100755 dimos/teleop/phone/web/teleop_server.ts

diff --git a/dimos/teleop/phone/phone_teleop_module.py b/dimos/teleop/phone/phone_teleop_module.py
index c0da85c27c..48a3919807 100644
--- a/dimos/teleop/phone/phone_teleop_module.py
+++ b/dimos/teleop/phone/phone_teleop_module.py
@@ -17,42 +17,46 @@
 Phone Teleoperation Module.
 
 Receives raw sensor data (TwistStamped) and button state (Bool) from the
-phone web app via the Deno LCM bridge.  Computes orientation deltas from
-a initial orientation captured on engage, converts to TwistStamped velocity
-commands via configurable gains, and publishes.
-
+phone web app via an embedded FastAPI WebSocket server.  Computes orientation
+deltas from an initial orientation captured on engage, converts to TwistStamped
+velocity commands via configurable gains, and publishes.
 """
 
 from dataclasses import dataclass
 from pathlib import Path
-import shutil
-import signal
-import subprocess
 import threading
 import time
 from typing import Any
 
-from reactivex.disposable import Disposable
+from dimos_lcm.geometry_msgs import TwistStamped as LCMTwistStamped
+from dimos_lcm.std_msgs import Bool as LCMBool
+from fastapi import WebSocket, WebSocketDisconnect
+from fastapi.responses import HTMLResponse
+from fastapi.staticfiles import StaticFiles
 
-from dimos.core import In, Module, Out, rpc
+from dimos.core import Module, Out, rpc
 from dimos.core.module import ModuleConfig
 from dimos.msgs.geometry_msgs import Twist, TwistStamped, Vector3
 from dimos.msgs.std_msgs.Bool import Bool
 from dimos.utils.logging_config import setup_logger
+from dimos.web.robot_web_interface import RobotWebInterface
 
 logger = setup_logger()
 
+STATIC_DIR = Path(__file__).parent / "web" / "static"
+
 
 @dataclass
 class PhoneTeleopConfig(ModuleConfig):
     control_loop_hz: float = 50.0
     linear_gain: float = 1.0 / 30.0  # Gain: maps degrees of tilt to m/s. 30 deg -> 1.0 m/s
     angular_gain: float = 1.0 / 30.0  # Gain: maps gyro deg/s to rad/s. 30 deg/s -> 1.0 rad/s
+    server_port: int = 8444
 
 
 class PhoneTeleopModule(Module[PhoneTeleopConfig]):
     """
-    Receives raw sensor data from the phone web app:
+    Receives raw sensor data from the phone web app via an embedded WebSocket server:
       - TwistStamped: linear=(roll, pitch, yaw) deg, angular=(gyro) deg/s
       - Bool: teleop button state (True = held)
 
@@ -62,9 +66,6 @@ class PhoneTeleopModule(Module[PhoneTeleopConfig]):
 
     default_config = PhoneTeleopConfig
 
-    # Inputs from Deno bridge
-    phone_sensors: In[TwistStamped]
-    phone_button: In[Bool]
     # Output: velocity command to robot
     twist_output: Out[TwistStamped]
 
@@ -85,9 +86,52 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
         self._control_loop_thread: threading.Thread | None = None
         self._stop_event = threading.Event()
 
-        # Deno bridge server
-        self._server_process: subprocess.Popen[bytes] | None = None
-        self._server_script = Path(__file__).parent / "web" / "teleop_server.ts"
+        # Embedded web server — RobotWebInterface provides FastAPI app + run()/shutdown()
+        self._web_server = RobotWebInterface(port=self.config.server_port)
+        self._web_server_thread: threading.Thread | None = None
+
+        # Fingerprint-based message dispatch table
+        self._decoders: dict[bytes, Any] = {
+            LCMTwistStamped._get_packed_fingerprint(): self._on_sensors_bytes,
+            LCMBool._get_packed_fingerprint(): self._on_button_bytes,
+        }
+
+        self._setup_routes()
+
+    # -------------------------------------------------------------------------
+    # Web Server Routes
+    # -------------------------------------------------------------------------
+
+    def _setup_routes(self) -> None:
+        """Register teleop routes on the embedded web server."""
+
+        @self._web_server.app.get("/teleop", response_class=HTMLResponse)
+        async def teleop_index() -> HTMLResponse:
+            index_path = STATIC_DIR / "index.html"
+            return HTMLResponse(content=index_path.read_text())
+
+        if STATIC_DIR.is_dir():
+            self._web_server.app.mount(
+                "/static", StaticFiles(directory=str(STATIC_DIR)), name="teleop_static"
+            )
+
+        @self._web_server.app.websocket("/ws")
+        async def websocket_endpoint(ws: WebSocket) -> None:
+            await ws.accept()
+            logger.info("Phone client connected")
+            try:
+                while True:
+                    data = await ws.receive_bytes()
+                    fingerprint = data[:8]
+                    decoder = self._decoders.get(fingerprint)
+                    if decoder:
+                        decoder(data)
+                    else:
+                        logger.warning(f"Unknown message fingerprint: {fingerprint.hex()}")
+            except WebSocketDisconnect:
+                logger.info("Phone client disconnected")
+            except Exception:
+                logger.exception("WebSocket error")
 
     # -------------------------------------------------------------------------
     # Lifecycle
@@ -96,11 +140,6 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
     @rpc
     def start(self) -> None:
         super().start()
-        for stream, handler in (
-            (self.phone_sensors, self._on_sensors),
-            (self.phone_button, self._on_button),
-        ):
-            self._disposables.add(Disposable(stream.subscribe(handler)))  # type: ignore[attr-defined]
         self._start_server()
         self._start_control_loop()
 
@@ -131,73 +170,47 @@ def _disengage(self) -> None:
         logger.info("Phone teleop disengaged")
 
     # -------------------------------------------------------------------------
-    # Callbacks
+    # WebSocket Message Decoders
     # -------------------------------------------------------------------------
 
-    def _on_sensors(self, msg: TwistStamped) -> None:
-        """Callback for raw sensor TwistStamped from the phone"""
+    def _on_sensors_bytes(self, data: bytes) -> None:
+        """Decode raw LCM bytes into TwistStamped and update sensor state."""
+        msg = TwistStamped.lcm_decode(data)
         with self._lock:
             self._current_sensors = msg
 
-    def _on_button(self, msg: Bool) -> None:
-        """Callback for teleop button state."""
+    def _on_button_bytes(self, data: bytes) -> None:
+        """Decode raw LCM bytes into Bool and update button state."""
+        msg = Bool.lcm_decode(data)
         with self._lock:
             self._teleop_button = bool(msg.data)
 
     # -------------------------------------------------------------------------
-    # Deno Bridge Server
+    # Embedded Web Server
     # -------------------------------------------------------------------------
 
     def _start_server(self) -> None:
-        """Launch the Deno WebSocket-to-LCM bridge server as a subprocess."""
-        if self._server_process is not None and self._server_process.poll() is None:
-            logger.warning("Deno bridge already running", pid=self._server_process.pid)
-            return
-
-        if shutil.which("deno") is None:
-            logger.error(
-                "Deno is not installed. Install it with: curl -fsSL https://deno.land/install.sh | sh"
-            )
+        """Start the embedded FastAPI server with HTTPS in a daemon thread."""
+        if self._web_server_thread is not None and self._web_server_thread.is_alive():
+            logger.warning("Web server already running")
             return
 
-        script = str(self._server_script)
-        cmd = [
-            "deno",
-            "run",
-            "--allow-net",
-            "--allow-read",
-            "--allow-run",
-            "--allow-write",
-            "--unstable-net",
-            script,
-        ]
-        try:
-            self._server_process = subprocess.Popen(cmd)
-            logger.info(f"Deno bridge server started (pid {self._server_process.pid})")
-        except OSError as e:
-            logger.error(f"Failed to start Deno bridge: {e}")
+        self._web_server_thread = threading.Thread(
+            target=self._web_server.run,
+            kwargs={"ssl": True},
+            daemon=True,
+            name="PhoneTeleopWebServer",
+        )
+        self._web_server_thread.start()
+        logger.info(f"Phone teleop web server started on https://0.0.0.0:{self.config.server_port}")
 
     def _stop_server(self) -> None:
-        """Terminate the Deno bridge server subprocess."""
-        if self._server_process is None or self._server_process.poll() is not None:
-            self._server_process = None
-            return
-
-        logger.info("Stopping Deno bridge server", pid=self._server_process.pid)
-        self._server_process.send_signal(signal.SIGTERM)
-        try:
-            self._server_process.wait(timeout=3)
-        except subprocess.TimeoutExpired:
-            logger.warning(
-                "Deno bridge did not exit, sending SIGKILL", pid=self._server_process.pid
-            )
-            self._server_process.kill()
-            try:
-                self._server_process.wait(timeout=5)
-            except subprocess.TimeoutExpired:
-                logger.error("Deno bridge did not exit after SIGKILL")
-        logger.info("Deno bridge server stopped")
-        self._server_process = None
+        """Shutdown the embedded web server."""
+        self._web_server.shutdown()
+        if self._web_server_thread is not None:
+            self._web_server_thread.join(timeout=3)
+            self._web_server_thread = None
+        logger.info("Phone teleop web server stopped")
 
     # -------------------------------------------------------------------------
     # Control Loop
diff --git a/dimos/teleop/phone/web/fastapi_server.py b/dimos/teleop/phone/web/fastapi_server.py
deleted file mode 100644
index 83f2a1bf4b..0000000000
--- a/dimos/teleop/phone/web/fastapi_server.py
+++ /dev/null
@@ -1,118 +0,0 @@
-#!/usr/bin/env python3
-# Copyright 2025-2026 Dimensional Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""
-Phone Teleop FastAPI Server.
-
-Replaces the Deno WebSocket-to-LCM bridge with a Python FastAPI server.
-Extends RobotWebInterface to serve the phone teleop web app and forward
-WebSocket binary LCM packets to the LCM network via UDP multicast.
-"""
-
-from __future__ import annotations
-
-from pathlib import Path
-import socket
-import struct
-
-from fastapi import WebSocket, WebSocketDisconnect
-from fastapi.responses import HTMLResponse
-from fastapi.staticfiles import StaticFiles
-
-from dimos.utils.logging_config import setup_logger
-from dimos.web.robot_web_interface import RobotWebInterface
-
-logger = setup_logger()
-
-# LCM default multicast group and port
-LCM_MULTICAST_GROUP = "239.255.76.67"
-LCM_MULTICAST_PORT = 7667
-
-STATIC_DIR = Path(__file__).parent / "static"
-
-
-class PhoneTeleopServer(RobotWebInterface):
-    """Phone teleoperation server built on RobotWebInterface.
-
-    Adds a WebSocket endpoint that bridges binary LCM packets from the
-    phone browser to the LCM UDP multicast network.
-    """
-
-    def __init__(
-        self,
-        port: int = 8444,
-        lcm_multicast_group: str = LCM_MULTICAST_GROUP,
-        lcm_multicast_port: int = LCM_MULTICAST_PORT,
-    ) -> None:
-        super().__init__(port=port)
-        self.lcm_multicast_group = lcm_multicast_group
-        self.lcm_multicast_port = lcm_multicast_port
-        self._udp_sock: socket.socket | None = None
-
-        self._setup_teleop_routes()
-
-    # ------------------------------------------------------------------
-    # LCM UDP socket
-    # ------------------------------------------------------------------
-
-    def _ensure_udp_socket(self) -> socket.socket:
-        """Create (or reuse) a UDP socket for LCM multicast publishing."""
-        if self._udp_sock is None:
-            sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
-            sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, struct.pack("b", 1))
-            self._udp_sock = sock
-            logger.info("LCM UDP multicast socket created")
-        return self._udp_sock
-
-    def _publish_lcm_packet(self, data: bytes) -> None:
-        """Send a raw LCM packet to the multicast group."""
-        sock = self._ensure_udp_socket()
-        sock.sendto(data, (self.lcm_multicast_group, self.lcm_multicast_port))
-
-    # ------------------------------------------------------------------
-    # Routes
-    # ------------------------------------------------------------------
-
-    def _setup_teleop_routes(self) -> None:
-        """Add phone-teleop-specific routes on top of the base interface."""
-
-        @self.app.get("/teleop", response_class=HTMLResponse)
-        async def teleop_index() -> HTMLResponse:
-            index_path = STATIC_DIR / "index.html"
-            return HTMLResponse(content=index_path.read_text())
-
-        if STATIC_DIR.is_dir():
-            self.app.mount("/static", StaticFiles(directory=str(STATIC_DIR)), name="teleop_static")
-
-        @self.app.websocket("/ws")
-        async def websocket_endpoint(ws: WebSocket) -> None:
-            await ws.accept()
-            logger.info("Phone client connected")
-            try:
-                while True:
-                    data = await ws.receive_bytes()
-                    try:
-                        self._publish_lcm_packet(data)
-                    except Exception:
-                        logger.exception("Failed to forward LCM packet")
-            except WebSocketDisconnect:
-                logger.info("Phone client disconnected")
-            except Exception:
-                logger.exception("WebSocket error")
-
-
-if __name__ == "__main__":
-    server = PhoneTeleopServer()
-    server.run()
diff --git a/dimos/teleop/phone/web/teleop_server.ts b/dimos/teleop/phone/web/teleop_server.ts
deleted file mode 100755
index 26202cf166..0000000000
--- a/dimos/teleop/phone/web/teleop_server.ts
+++ /dev/null
@@ -1,85 +0,0 @@
-#!/usr/bin/env -S deno run --allow-net --allow-read --allow-run --allow-write --unstable-net
-
-// WebSocket to LCM Bridge for Phone Teleop
-// Forwards twist data from Phone browser to LCM
-
-import { LCM } from "jsr:@dimos/lcm";
-import { dirname, fromFileUrl, join } from "jsr:@std/path";
-
-const PORT = 8444;
-
-// Resolve paths relative to script location
-const scriptDir = dirname(fromFileUrl(import.meta.url));
-const certsDir = join(scriptDir, "../../../../assets/teleop_certs");
-const certPath = join(certsDir, "cert.pem");
-const keyPath = join(certsDir, "key.pem");
-
-// Auto-generate self-signed certificates if they don't exist
-async function ensureCerts(): Promise<{ cert: string; key: string }> {
-  try {
-    const cert = await Deno.readTextFile(certPath);
-    const key = await Deno.readTextFile(keyPath);
-    return { cert, key };
-  } catch {
-    console.log("Generating self-signed certificates...");
-    await Deno.mkdir(certsDir, { recursive: true });
-    const cmd = new Deno.Command("openssl", {
-      args: [
-        "req", "-x509", "-newkey", "rsa:2048",
-        "-keyout", keyPath, "-out", certPath,
-        "-days", "365", "-nodes", "-subj", "/CN=localhost"
-      ],
-    });
-    const { code } = await cmd.output();
-    if (code !== 0) {
-      throw new Error("Failed to generate certificates. Is openssl installed?");
-    }
-    console.log("Certificates generated in assets/teleop_certs/");
-    return {
-      cert: await Deno.readTextFile(certPath),
-      key: await Deno.readTextFile(keyPath),
-    };
-  }
-}
-
-const { cert, key } = await ensureCerts();
-
-const lcm = new LCM();
-await lcm.start();
-
-// Binds to all interfaces so the phone can reach the server over LAN.
-Deno.serve({ port: PORT, cert, key }, async (req) => {
-  const url = new URL(req.url);
-
-  if (req.headers.get("upgrade") === "websocket") {
-    const { socket, response } = Deno.upgradeWebSocket(req);
-    socket.onopen = () => console.log("Phone client connected");
-    socket.onclose = () => console.log("Phone client disconnected");
-
-    // Forward binary LCM packets from browser directly to UDP
-    socket.binaryType = "arraybuffer";
-    socket.onmessage = async (event) => {
-      if (event.data instanceof ArrayBuffer) {
-        const packet = new Uint8Array(event.data);
-        try {
-          await lcm.publishPacket(packet);
-        } catch (e) {
-          console.error("Forward error:", e);
-        }
-      }
-    };
-
-    return response;
-  }
-
-  if (url.pathname === "/" || url.pathname === "/index.html") {
-    const html = await Deno.readTextFile(new URL("./static/index.html", import.meta.url));
-    return new Response(html, { headers: { "content-type": "text/html" } });
-  }
-
-  return new Response("Not found", { status: 404 });
-});
-
-console.log(`Phone Teleop Server: https://localhost:${PORT}`);
-
-await lcm.run();

From 0edcc14ed311923a68ce173cfc0487344e57cd92 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 13:43:51 -0800
Subject: [PATCH 03/13] feat: sending encoded msgs directly - no topic

---
 dimos/teleop/phone/web/static/index.html | 13 ++++---------
 1 file changed, 4 insertions(+), 9 deletions(-)

diff --git a/dimos/teleop/phone/web/static/index.html b/dimos/teleop/phone/web/static/index.html
index 6fad23b6c8..5bad9c727e 100644
--- a/dimos/teleop/phone/web/static/index.html
+++ b/dimos/teleop/phone/web/static/index.html
@@ -165,7 +165,7 @@ <h3>Sensors</h3>
     <button id="teleop-btn">HOLD TO TELEOP</button>
 
     <script type="module">
-        import { encodePacket, geometry_msgs, std_msgs } from "https://esm.sh/jsr/@dimos/msgs@0.1.4";
+        import { geometry_msgs, std_msgs } from "https://esm.sh/jsr/@dimos/msgs@0.1.4";
 
         // ============================================
         // State
@@ -183,11 +183,6 @@ <h3>Sensors</h3>
         let ws = null;
         let wsConnected = false;
         let wsSendInterval = null;
-
-        // LCM channels
-        const SENSOR_CHANNEL = "/phone_sensors#geometry_msgs.TwistStamped";
-        const BUTTON_CHANNEL = "/phone_button#std_msgs.Bool";
-
         // ============================================
         // DOM
         // ============================================
@@ -280,7 +275,7 @@ <h3>Sensors</h3>
             if (wsConnected) { disconnectWS(); return; }
 
             const protocol = window.location.protocol === 'https:' ? 'wss:' : 'ws:';
-            const wsUrl = `${protocol}//${window.location.host}`;
+            const wsUrl = `${protocol}//${window.location.host}/ws`;
 
             try {
                 ws = new WebSocket(wsUrl);
@@ -347,11 +342,11 @@ <h3>Sensors</h3>
                     })
                 })
             });
-            ws.send(encodePacket(SENSOR_CHANNEL, twistStamped));
+            ws.send(twistStamped.encode());
 
             // --- Send teleop button as Bool ---
             const boolMsg = new std_msgs.Bool({ data: teleopActive ? 1 : 0 });
-            ws.send(encodePacket(BUTTON_CHANNEL, boolMsg));
+            ws.send(boolMsg.encode());
 
             updateDisplay();
         }

From efeb4258e07230d43a166da55ff8790c1e2fb6f7 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 13:44:11 -0800
Subject: [PATCH 04/13] feat: adding https support

---
 dimos/web/dimos_interface/api/server.py | 37 ++++++++++++++++++++++++-
 1 file changed, 36 insertions(+), 1 deletion(-)

diff --git a/dimos/web/dimos_interface/api/server.py b/dimos/web/dimos_interface/api/server.py
index 6692e90f46..50d6b7f86d 100644
--- a/dimos/web/dimos_interface/api/server.py
+++ b/dimos/web/dimos_interface/api/server.py
@@ -31,6 +31,7 @@
 import io
 from pathlib import Path
 from queue import Empty, Queue
+import subprocess
 from threading import Lock
 import time
 
@@ -353,12 +354,46 @@ async def text_stream(key: str):  # type: ignore[no-untyped-def]
         for key in self.streams:
             self.app.get(f"/video_feed/{key}")(self.create_video_feed_route(key))  # type: ignore[no-untyped-call]
 
-    def run(self) -> None:
+    @staticmethod
+    def _ensure_certs(certs_dir: Path) -> tuple[str, str]:
+        """Return (cert_path, key_path), generating self-signed certs if needed.
+        HTTPS is required by browsers for sensor APIs (DeviceOrientation)"""
+        cert_path = certs_dir / "cert.pem"
+        key_path = certs_dir / "key.pem"
+
+        if cert_path.exists() and key_path.exists():
+            return str(cert_path), str(key_path)
+
+        certs_dir.mkdir(parents=True, exist_ok=True)
+        result = subprocess.run(
+            [
+                "openssl", "req", "-x509", "-newkey", "rsa:2048",
+                "-keyout", str(key_path), "-out", str(cert_path),
+                "-days", "365", "-nodes", "-subj", "/CN=localhost",
+            ],
+            capture_output=True,
+        )
+        if result.returncode != 0:
+            raise RuntimeError(f"Failed to generate certificates: {result.stderr.decode()}")
+        return str(cert_path), str(key_path)
+
+    _DEFAULT_CERTS_DIR = Path.home() / ".dimos" / "ssl_certs"
+
+    def run(self, ssl: bool = False, ssl_certs_dir: Path | str | None = None) -> None:
+        ssl_certfile = None
+        ssl_keyfile = None
+
+        if ssl:
+            certs_dir = Path(ssl_certs_dir) if ssl_certs_dir else self._DEFAULT_CERTS_DIR
+            ssl_certfile, ssl_keyfile = self._ensure_certs(certs_dir)
+
         config = uvicorn.Config(
             self.app,
             host=self.host,
             port=self.port,
             log_level="error",  # Reduce verbosity
+            ssl_certfile=ssl_certfile,
+            ssl_keyfile=ssl_keyfile,
         )
         self._server = uvicorn.Server(config)
         self._server.run()

From 1a7869f7ce566ff605f021e5be41b19a54f26a76 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 14:16:53 -0800
Subject: [PATCH 05/13] Feat: added fastapi replacing deno for quest

---
 dimos/teleop/quest/quest_teleop_module.py | 187 +++++++++++-----------
 dimos/teleop/quest/web/static/index.html  |  21 +--
 2 files changed, 99 insertions(+), 109 deletions(-)

diff --git a/dimos/teleop/quest/quest_teleop_module.py b/dimos/teleop/quest/quest_teleop_module.py
index ea77bb5fc0..7c3e7ac8e7 100644
--- a/dimos/teleop/quest/quest_teleop_module.py
+++ b/dimos/teleop/quest/quest_teleop_module.py
@@ -16,32 +16,37 @@
 """
 Quest Teleoperation Module.
 
-Receives VR controller tracking data via LCM from Deno bridge,
-transforms from WebXR to robot frame, computes deltas, and publishes PoseStamped commands.
+Receives VR controller tracking data from the Quest web app via an embedded
+FastAPI WebSocket server.  Transforms from WebXR to robot frame, computes
+deltas, and publishes PoseStamped commands.
 """
 
 from dataclasses import dataclass
 from enum import IntEnum
 from pathlib import Path
-import shutil
-import signal
-import subprocess
 import threading
 import time
 from typing import Any
 
-from reactivex.disposable import Disposable
+from dimos_lcm.geometry_msgs import PoseStamped as LCMPoseStamped
+from dimos_lcm.sensor_msgs import Joy as LCMJoy
+from fastapi import WebSocket, WebSocketDisconnect
+from fastapi.responses import HTMLResponse
+from fastapi.staticfiles import StaticFiles
 
-from dimos.core import In, Module, Out, rpc
+from dimos.core import Module, Out, rpc
 from dimos.core.module import ModuleConfig
 from dimos.msgs.geometry_msgs import PoseStamped
 from dimos.msgs.sensor_msgs import Joy
 from dimos.teleop.quest.quest_types import Buttons, QuestControllerState
 from dimos.teleop.utils.teleop_transforms import webxr_to_robot
 from dimos.utils.logging_config import setup_logger
+from dimos.web.robot_web_interface import RobotWebInterface
 
 logger = setup_logger()
 
+STATIC_DIR = Path(__file__).parent / "web" / "static"
+
 
 class Hand(IntEnum):
     """Controller hand index."""
@@ -66,13 +71,15 @@ class QuestTeleopConfig(ModuleConfig):
     """Configuration for Quest Teleoperation Module."""
 
     control_loop_hz: float = 50.0
+    server_port: int = 8443
 
 
 class QuestTeleopModule(Module[QuestTeleopConfig]):
     """Quest Teleoperation Module for Meta Quest controllers.
 
-    Gets controller data from Deno bridge, computes output poses, and publishes them. Subclass to customize pose
-    computation, output format, and engage behavior.
+    Receives controller data from the Quest web app via an embedded WebSocket
+    server, computes output poses, and publishes them.  Subclass to customize
+    pose computation, output format, and engage behavior.
 
     Outputs:
         - left_controller_output: PoseStamped (output pose for left hand)
@@ -82,12 +89,6 @@ class QuestTeleopModule(Module[QuestTeleopConfig]):
 
     default_config = QuestTeleopConfig
 
-    # Inputs from Deno bridge
-    vr_left_pose: In[PoseStamped]
-    vr_right_pose: In[PoseStamped]
-    vr_left_joy: In[Joy]
-    vr_right_joy: In[Joy]
-
     # Outputs: delta poses for each controller
     left_controller_output: Out[PoseStamped]
     right_controller_output: Out[PoseStamped]
@@ -114,9 +115,52 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
         self._control_loop_thread: threading.Thread | None = None
         self._stop_event = threading.Event()
 
-        # Deno bridge server
-        self._server_process: subprocess.Popen[bytes] | None = None
-        self._server_script = Path(__file__).parent / "web" / "teleop_server.ts"
+        # Embedded web server — RobotWebInterface provides FastAPI app + run()/shutdown()
+        self._web_server = RobotWebInterface(port=self.config.server_port)
+        self._web_server_thread: threading.Thread | None = None
+
+        # Fingerprint-based message dispatch table
+        self._decoders: dict[bytes, Any] = {
+            LCMPoseStamped._get_packed_fingerprint(): self._on_pose_bytes,
+            LCMJoy._get_packed_fingerprint(): self._on_joy_bytes,
+        }
+
+        self._setup_routes()
+
+    # -------------------------------------------------------------------------
+    # Web Server Routes
+    # -------------------------------------------------------------------------
+
+    def _setup_routes(self) -> None:
+        """Register teleop routes on the embedded web server."""
+
+        @self._web_server.app.get("/teleop", response_class=HTMLResponse)
+        async def teleop_index() -> HTMLResponse:
+            index_path = STATIC_DIR / "index.html"
+            return HTMLResponse(content=index_path.read_text())
+
+        if STATIC_DIR.is_dir():
+            self._web_server.app.mount(
+                "/static", StaticFiles(directory=str(STATIC_DIR)), name="teleop_static"
+            )
+
+        @self._web_server.app.websocket("/ws")
+        async def websocket_endpoint(ws: WebSocket) -> None:
+            await ws.accept()
+            logger.info("Quest client connected")
+            try:
+                while True:
+                    data = await ws.receive_bytes()
+                    fingerprint = data[:8]
+                    decoder = self._decoders.get(fingerprint)
+                    if decoder:
+                        decoder(data)
+                    else:
+                        logger.warning(f"Unknown message fingerprint: {fingerprint.hex()}")
+            except WebSocketDisconnect:
+                logger.info("Quest client disconnected")
+            except Exception:
+                logger.exception("WebSocket error")
 
     # -------------------------------------------------------------------------
     # Lifecycle
@@ -125,25 +169,8 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
     @rpc
     def start(self) -> None:
         super().start()
-
-        input_streams = {
-            "vr_left_pose": (self.vr_left_pose, lambda msg: self._on_pose(Hand.LEFT, msg)),
-            "vr_right_pose": (self.vr_right_pose, lambda msg: self._on_pose(Hand.RIGHT, msg)),
-            "vr_left_joy": (self.vr_left_joy, lambda msg: self._on_joy(Hand.LEFT, msg)),
-            "vr_right_joy": (self.vr_right_joy, lambda msg: self._on_joy(Hand.RIGHT, msg)),
-        }
-        connected = []
-        for name, (stream, handler) in input_streams.items():
-            if not (stream and stream.transport):  # type: ignore[attr-defined]
-                logger.warning(f"Stream '{name}' has no transport — skipping")
-                continue
-            self._disposables.add(Disposable(stream.subscribe(handler)))  # type: ignore[attr-defined]
-            connected.append(name)
-
-        if connected:
-            logger.info(f"Subscribed to: {', '.join(connected)}")
-
         self._start_server()
+        self._start_control_loop()
         logger.info("Quest Teleoperation Module started")
 
     @rpc
@@ -189,83 +216,57 @@ def get_status(self) -> QuestTeleopStatus:
             )
 
     # -------------------------------------------------------------------------
-    # Callbacks and Control Loop
+    # WebSocket Message Decoders
     # -------------------------------------------------------------------------
 
-    def _on_pose(self, hand: Hand, pose_stamped: PoseStamped) -> None:
-        """Callback for controller pose, converting WebXR to robot frame."""
-        is_left = hand == Hand.LEFT
-        robot_pose_stamped = webxr_to_robot(pose_stamped, is_left_controller=is_left)
+    def _on_pose_bytes(self, data: bytes) -> None:
+        """Decode LCM bytes into PoseStamped, route by frame_id, transform to robot frame."""
+        msg = PoseStamped.lcm_decode(data)
+        hand = Hand.LEFT if msg.frame_id == "left" else Hand.RIGHT
+        robot_pose = webxr_to_robot(msg, is_left_controller=(hand == Hand.LEFT))
         with self._lock:
-            self._current_poses[hand] = robot_pose_stamped
+            self._current_poses[hand] = robot_pose
 
-    def _on_joy(self, hand: Hand, joy: Joy) -> None:
-        """Callback for Joy message, parsing into QuestControllerState."""
-        is_left = hand == Hand.LEFT
+    def _on_joy_bytes(self, data: bytes) -> None:
+        """Decode LCM bytes into Joy, route by frame_id, parse into QuestControllerState."""
+        msg = Joy.lcm_decode(data)
+        hand = Hand.LEFT if msg.frame_id == "left" else Hand.RIGHT
         try:
-            controller = QuestControllerState.from_joy(joy, is_left=is_left)
+            controller = QuestControllerState.from_joy(msg, is_left=(hand == Hand.LEFT))
         except ValueError:
             logger.warning(
-                f"Malformed Joy for {hand.name}: axes={len(joy.axes or [])}, buttons={len(joy.buttons or [])}"
+                f"Malformed Joy for {hand.name}: axes={len(msg.axes or [])}, buttons={len(msg.buttons or [])}"
             )
             return
         with self._lock:
             self._controllers[hand] = controller
 
     # -------------------------------------------------------------------------
-    # Deno Bridge Server
+    # Embedded Web Server
     # -------------------------------------------------------------------------
 
     def _start_server(self) -> None:
-        """Launch the Deno WebSocket-to-LCM bridge server as a subprocess."""
-        if self._server_process is not None and self._server_process.poll() is None:
-            logger.warning("Deno bridge already running", pid=self._server_process.pid)
+        """Start the embedded FastAPI server with HTTPS in a daemon thread."""
+        if self._web_server_thread is not None and self._web_server_thread.is_alive():
+            logger.warning("Web server already running")
             return
 
-        if shutil.which("deno") is None:
-            logger.error(
-                "Deno is not installed. Install it with: curl -fsSL https://deno.land/install.sh | sh"
-            )
-            return
-
-        script = str(self._server_script)
-        cmd = [
-            "deno",
-            "run",
-            "--allow-net",
-            "--allow-read",
-            "--allow-run",
-            "--allow-write",
-            "--unstable-net",
-            script,
-        ]
-        try:
-            self._server_process = subprocess.Popen(cmd)
-            logger.info(f"Deno bridge server started (pid {self._server_process.pid})")
-        except OSError as e:
-            logger.error(f"Failed to start Deno bridge: {e}")
+        self._web_server_thread = threading.Thread(
+            target=self._web_server.run,
+            kwargs={"ssl": True},
+            daemon=True,
+            name="QuestTeleopWebServer",
+        )
+        self._web_server_thread.start()
+        logger.info(f"Quest teleop web server started on https://0.0.0.0:{self.config.server_port}")
 
     def _stop_server(self) -> None:
-        """Terminate the Deno bridge server subprocess."""
-        if self._server_process is None or self._server_process.poll() is not None:
-            self._server_process = None
-            return
-
-        logger.info("Stopping Deno bridge server", pid=self._server_process.pid)
-        self._server_process.send_signal(signal.SIGTERM)
-        try:
-            self._server_process.wait(timeout=3)
-        except subprocess.TimeoutExpired:
-            logger.warning(
-                "Deno bridge did not exit, sending SIGKILL", pid=self._server_process.pid
-            )
-            self._server_process.kill()
-            try:
-                self._server_process.wait(timeout=5)
-            except subprocess.TimeoutExpired:
-                logger.error("Deno bridge did not exit after SIGKILL")
-        logger.info("Deno bridge server stopped")
-        self._server_process = None
+        """Shutdown the embedded web server."""
+        self._web_server.shutdown()
+        if self._web_server_thread is not None:
+            self._web_server_thread.join(timeout=3)
+            self._web_server_thread = None
+        logger.info("Quest teleop web server stopped")
 
     def _start_control_loop(self) -> None:
         """Start the control loop thread."""
diff --git a/dimos/teleop/quest/web/static/index.html b/dimos/teleop/quest/web/static/index.html
index 507d493011..8d31289f88 100644
--- a/dimos/teleop/quest/web/static/index.html
+++ b/dimos/teleop/quest/web/static/index.html
@@ -116,7 +116,7 @@ <h1>DimOS Quest-3 Teleop</h1>
             document.getElementById('status').textContent = `Error: ${msg}`;
         };
 
-        import { encodePacket, geometry_msgs, std_msgs, sensor_msgs } from "https://esm.sh/jsr/@dimos/msgs@0.1.4";
+        import { geometry_msgs, std_msgs, sensor_msgs } from "https://esm.sh/jsr/@dimos/msgs@0.1.4";
 
         // WebSocket and VR state
         let ws = null;
@@ -141,7 +141,7 @@ <h1>DimOS Quest-3 Teleop</h1>
         function setupWebSocket() {
             return new Promise((resolve, reject) => {
                 const protocol = window.location.protocol === 'https:' ? 'wss:' : 'ws:';
-                const wsUrl = `${protocol}//${window.location.host}`;
+                const wsUrl = `${protocol}//${window.location.host}/ws`;
 
                 setStatus('Connecting to server...');
                 ws = new WebSocket(wsUrl);
@@ -202,7 +202,7 @@ <h1>DimOS Quest-3 Teleop</h1>
                 const poseStamped = new geometry_msgs.PoseStamped({
                     header: new std_msgs.Header({
                         stamp: new std_msgs.Time({ sec: Math.floor(nowMs / 1000), nsec: (nowMs % 1000) * 1_000_000 }),
-                        frame_id: "vr_origin"
+                        frame_id: handedness
                     }),
                     pose: new geometry_msgs.Pose({
                         position: new geometry_msgs.Point({ x: pos.x, y: pos.y, z: pos.z }),
@@ -210,14 +210,8 @@ <h1>DimOS Quest-3 Teleop</h1>
                     })
                 });
 
-                const channel = handedness === 'left'
-                    ? "/vr_left_pose#geometry_msgs.PoseStamped"
-                    : "/vr_right_pose#geometry_msgs.PoseStamped";
-
-                const packet = encodePacket(channel, poseStamped);
-
                 if (ws && ws.readyState === WebSocket.OPEN) {
-                    ws.send(packet);
+                    ws.send(poseStamped.encode());
                 }
 
                 // Send Joy message with all buttons and axes
@@ -259,13 +253,8 @@ <h1>DimOS Quest-3 Teleop</h1>
                         buttons: buttons
                     });
 
-                    const joyChannel = handedness === 'left'
-                        ? "/vr_left_joy#sensor_msgs.Joy"
-                        : "/vr_right_joy#sensor_msgs.Joy";
-                    const joyPacket = encodePacket(joyChannel, joyMsg);
-
                     if (ws && ws.readyState === WebSocket.OPEN) {
-                        ws.send(joyPacket);
+                        ws.send(joyMsg.encode());
                     }
                 }
             }

From e7478ea26e461286fae2d083918152097b50a248 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 14:17:10 -0800
Subject: [PATCH 06/13] feat: sending encoded raw msgs

---
 dimos/teleop/quest/web/teleop_server.ts | 84 -------------------------
 1 file changed, 84 deletions(-)
 delete mode 100755 dimos/teleop/quest/web/teleop_server.ts

diff --git a/dimos/teleop/quest/web/teleop_server.ts b/dimos/teleop/quest/web/teleop_server.ts
deleted file mode 100755
index 2bff24b34f..0000000000
--- a/dimos/teleop/quest/web/teleop_server.ts
+++ /dev/null
@@ -1,84 +0,0 @@
-#!/usr/bin/env -S deno run --allow-net --allow-read --allow-run --allow-write --unstable-net
-
-// WebSocket to LCM Bridge for Quest VR Teleop
-// Forwards controller data from browser to LCM
-
-import { LCM } from "jsr:@dimos/lcm";
-import { dirname, fromFileUrl, join } from "jsr:@std/path";
-
-const PORT = 8443;
-
-// Resolve paths relative to script location
-const scriptDir = dirname(fromFileUrl(import.meta.url));
-const certsDir = join(scriptDir, "../../../../assets/teleop_certs");
-const certPath = join(certsDir, "cert.pem");
-const keyPath = join(certsDir, "key.pem");
-
-// Auto-generate self-signed certificates if they don't exist
-async function ensureCerts(): Promise<{ cert: string; key: string }> {
-  try {
-    const cert = await Deno.readTextFile(certPath);
-    const key = await Deno.readTextFile(keyPath);
-    return { cert, key };
-  } catch {
-    console.log("Generating self-signed certificates...");
-    await Deno.mkdir(certsDir, { recursive: true });
-    const cmd = new Deno.Command("openssl", {
-      args: [
-        "req", "-x509", "-newkey", "rsa:2048",
-        "-keyout", keyPath, "-out", certPath,
-        "-days", "365", "-nodes", "-subj", "/CN=localhost"
-      ],
-    });
-    const { code } = await cmd.output();
-    if (code !== 0) {
-      throw new Error("Failed to generate certificates. Is openssl installed?");
-    }
-    console.log("Certificates generated in assets/teleop_certs/");
-    return {
-      cert: await Deno.readTextFile(certPath),
-      key: await Deno.readTextFile(keyPath),
-    };
-  }
-}
-
-const { cert, key } = await ensureCerts();
-
-const lcm = new LCM();
-await lcm.start();
-
-Deno.serve({ port: PORT, cert, key }, async (req) => {
-  const url = new URL(req.url);
-
-  if (req.headers.get("upgrade") === "websocket") {
-    const { socket, response } = Deno.upgradeWebSocket(req);
-    socket.onopen = () => console.log("Client connected");
-    socket.onclose = () => console.log("Client disconnected");
-
-    // Forward binary LCM packets from browser directly to UDP
-    socket.binaryType = "arraybuffer";
-    socket.onmessage = async (event) => {
-      if (event.data instanceof ArrayBuffer) {
-        const packet = new Uint8Array(event.data);
-        try {
-          await lcm.publishPacket(packet);
-        } catch (e) {
-          console.error("Forward error:", e);
-        }
-      }
-    };
-
-    return response;
-  }
-
-  if (url.pathname === "/" || url.pathname === "/index.html") {
-    const html = await Deno.readTextFile(new URL("./static/index.html", import.meta.url));
-    return new Response(html, { headers: { "content-type": "text/html" } });
-  }
-
-  return new Response("Not found", { status: 404 });
-});
-
-console.log(`Server: https://localhost:${PORT}`);
-
-await lcm.run();

From 430615803b90fa629adf13075a48ce4355bfc300 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 14:27:45 -0800
Subject: [PATCH 07/13] fis: pre-commit errors

---
 dimos/web/dimos_interface/api/server.py | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/dimos/web/dimos_interface/api/server.py b/dimos/web/dimos_interface/api/server.py
index 50d6b7f86d..5d487e1180 100644
--- a/dimos/web/dimos_interface/api/server.py
+++ b/dimos/web/dimos_interface/api/server.py
@@ -367,9 +367,20 @@ def _ensure_certs(certs_dir: Path) -> tuple[str, str]:
         certs_dir.mkdir(parents=True, exist_ok=True)
         result = subprocess.run(
             [
-                "openssl", "req", "-x509", "-newkey", "rsa:2048",
-                "-keyout", str(key_path), "-out", str(cert_path),
-                "-days", "365", "-nodes", "-subj", "/CN=localhost",
+                "openssl",
+                "req",
+                "-x509",
+                "-newkey",
+                "rsa:2048",
+                "-keyout",
+                str(key_path),
+                "-out",
+                str(cert_path),
+                "-days",
+                "365",
+                "-nodes",
+                "-subj",
+                "/CN=localhost",
             ],
             capture_output=True,
         )

From be614791538764b826bb1188fca772b80b49c8bf Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Fri, 27 Feb 2026 14:27:56 -0800
Subject: [PATCH 08/13] misc: readme updates

---
 dimos/teleop/README.md           | 47 ++++++++++++------
 dimos/teleop/phone/README.md     | 56 +++++----------------
 dimos/teleop/quest/web/README.md | 84 ++++++++++++--------------------
 3 files changed, 75 insertions(+), 112 deletions(-)

diff --git a/dimos/teleop/README.md b/dimos/teleop/README.md
index e64a7b43ea..fac35ab512 100644
--- a/dimos/teleop/README.md
+++ b/dimos/teleop/README.md
@@ -1,29 +1,33 @@
 # Teleop Stack
 
-Teleoperation modules for DimOS. Currently supports Meta Quest 3 VR controllers.
+Teleoperation modules for DimOS. Supports Meta Quest 3 VR controllers and phone motion sensors.
 
 ## Architecture
 
 ```
-Quest Browser (WebXR)
+Quest/Phone Browser
     │
-    │  PoseStamped + Joy via WebSocket
+    │  LCM-encoded binary via WebSocket
     ▼
-Deno Bridge (teleop_server.ts)
+Embedded FastAPI Server (HTTPS)
     │
-    │  LCM topics
+    │  Fingerprint-based message dispatch
     ▼
-QuestTeleopModule
-    │  WebXR → robot frame transform
-    │  Pose computation + button state packing
+TeleopModule (Quest or Phone)
+    │  Frame transforms + pose/twist computation
     ▼
 PoseStamped / TwistStamped / Buttons outputs
 ```
 
+Each teleop module embeds a `RobotWebInterface` (FastAPI + uvicorn) that:
+- Serves the teleop web app at `/teleop`
+- Accepts WebSocket connections at `/ws`
+- Handles SSL certificate generation for HTTPS (required by mobile sensor APIs)
+
 ## Modules
 
 ### QuestTeleopModule
-Base teleop module. Gets controller data, computes output poses, and publishes them. Default engage: hold primary button (X/A). Subclass to customize.
+Base Quest teleop module. Gets controller data via WebSocket, computes output poses, and publishes them. Default engage: hold primary button (X/A). Subclass to customize.
 
 ### ArmTeleopModule
 Toggle-based engage — press primary button once to engage, press again to disengage.
@@ -34,6 +38,12 @@ Outputs TwistStamped (linear + angular velocity) instead of PoseStamped.
 ### VisualizingTeleopModule
 Adds Rerun visualization for debugging. Extends ArmTeleopModule (toggle engage).
 
+### PhoneTeleopModule
+Base phone teleop module. Receives orientation + gyro data from phone motion sensors, computes velocity commands from orientation deltas.
+
+### SimplePhoneTeleop
+Filters to mobile-base axes (linear.x, linear.y, angular.z) and publishes as `Twist`.
+
 ## Subclassing
 
 `QuestTeleopModule` is designed for extension. Override these methods:
@@ -60,16 +70,14 @@ teleop/
 │   ├── quest_teleop_module.py   # Base Quest teleop module
 │   ├── quest_extensions.py      # ArmTeleop, TwistTeleop, VisualizingTeleop
 │   ├── quest_types.py           # QuestControllerState, Buttons
-│   └── web/                     # Deno bridge + WebXR client
-│       ├── teleop_server.ts
-│       └── static/index.html
+│   └── web/
+│       └── static/index.html    # WebXR client
 ├── phone/
 │   ├── phone_teleop_module.py   # Base Phone teleop module
 │   ├── phone_extensions.py      # SimplePhoneTeleop
 │   ├── blueprints.py            # Pre-wired configurations
-│   └── web/                     # Deno bridge + mobile web app
-│       ├── teleop_server.ts
-│       └── static/index.html
+│   └── web/
+│       └── static/index.html    # Mobile sensor web app
 ├── utils/
 │   ├── teleop_transforms.py     # WebXR → robot frame math
 │   └── teleop_visualization.py  # Rerun visualization helpers
@@ -78,4 +86,11 @@ teleop/
 
 ## Quick Start
 
-See [Quest Web README](quest/web/README.md) for running the Deno bridge and connecting the Quest headset.
+```bash
+dimos run arm-teleop            # Quest arm teleop
+dimos run phone-go2-teleop      # Phone → Go2
+```
+
+Open `https://<host-ip>:<port>/teleop` on device. Accept the self-signed certificate.
+- Quest: port 8443
+- Phone: port 8444
diff --git a/dimos/teleop/phone/README.md b/dimos/teleop/phone/README.md
index dd2af02281..5f8541f602 100644
--- a/dimos/teleop/phone/README.md
+++ b/dimos/teleop/phone/README.md
@@ -5,66 +5,34 @@ Teleoperation via smartphone motion sensors. Tilt to drive.
 ## Architecture
 
 ```
-Phone Browser (DeviceOrientation + DeviceMotion)
-    |
-    |  TwistStamped + Bool via WebSocket
-    v
-Deno Bridge (teleop_server.ts)
-    |
-    |  LCM topics
-    v
-PhoneTeleopModule
-    |  Orientation delta from home pose
-    |  Gains -> velocity commands
-    v
-TwistStamped / Twist outputs
+Phone Browser  ──WebSocket──→  Embedded HTTPS Server  ──→  PhoneTeleopModule
+(sensors + button)              (port 8444)                  (delta → velocity)
 ```
 
-## Modules
+## Running
 
-### PhoneTeleopModule
-Base module. Receives raw sensor data and button state. On engage (button hold), captures home orientation and publishes deltas as TwistStamped. Launches the Deno bridge server automatically.
+```bash
+dimos run phone-go2-teleop     # Go2
+dimos run simple-phone-teleop  # Generic ground robot
+```
 
-### SimplePhoneTeleop
-Filters to mobile-base axes (linear.x, linear.y, angular.z) and publishes as `Twist` on `cmd_vel` for direct autoconnect wiring with any module that has `cmd_vel: In[Twist]`.
+Open `https://<host-ip>:8444/teleop` on phone. Accept cert, allow sensors, connect, hold to drive.
 
 ## Subclassing
 
-Override these methods:
-
 | Method | Purpose |
 |--------|---------|
 | `_handle_engage()` | Customize engage/disengage logic |
-| `_should_publish()` | Add conditions for when to publish |
 | `_publish_msg()` | Change output format |
 
-**Do not acquire `self._lock` in overrides.** The control loop already holds it.
-
-## LCM Topics
-
-| Topic | Type | Description |
-|-------|------|-------------|
-| `/phone_sensors` | TwistStamped | linear=(roll,pitch,yaw) deg, angular=(gyro) deg/s |
-| `/phone_button` | Bool | Teleop engage button (1=held) |
-| `/teleop/twist` | TwistStamped | Output velocity command |
-
-## Running
-
-```bash
-dimos run phone-go2-teleop     # Go2
-dimos run simple-phone-teleop  # Generic ground robot
-```
-
-Server starts on port `8444`. Open `https://<host-ip>:8444` on phone, accept the self-signed certificate, allow sensor permissions, connect, hold button to drive.
+`self._lock` is already held — don't acquire it in overrides.
 
 ## File Structure
 
 ```
 phone/
-├── phone_teleop_module.py   # Base phone teleop module
+├── phone_teleop_module.py   # Base module
 ├── phone_extensions.py      # SimplePhoneTeleop
-├── blueprints.py            # Pre-wired configurations
-└── web/
-    ├── teleop_server.ts     # Deno WSS-to-LCM bridge
-    └── static/index.html    # Mobile web app
+├── blueprints.py
+└── web/static/index.html    # Mobile web app
 ```
diff --git a/dimos/teleop/quest/web/README.md b/dimos/teleop/quest/web/README.md
index 9a7afbfe03..0b0e2b8402 100644
--- a/dimos/teleop/quest/web/README.md
+++ b/dimos/teleop/quest/web/README.md
@@ -1,69 +1,49 @@
-# Quest Teleop Web
+# Quest Teleop
 
-WebXR client and server for Quest 3 VR teleoperation.
+Teleoperation via Meta Quest 3 VR controllers. Dual-hand tracking with WebXR.
 
-## Components
+## Architecture
 
-### teleop_server.ts
-
-Deno server that bridges WebSocket and LCM:
-- Serves WebXR client over HTTPS (required for Quest)
-- Forwards controller data from browser to LCM
-
-### static/index.html
-
-WebXR client running on Quest 3:
-- Captures controller poses at ~80Hz
-- Sends PoseStamped and Joy messages via WebSocket
-- Requires internet connection (loads `@dimos/msgs` from CDN at runtime)
+```
+Quest Browser  ──WebSocket──→  Embedded HTTPS Server  ──→  QuestTeleopModule
+(WebXR poses + Joy)             (port 8443)                  (delta → PoseStamped)
+```
 
 ## Running
 
-From the repository root (`dimos/`):
-
 ```bash
-./dimos/teleop/quest/web/teleop_server.ts
+dimos run arm-teleop           # Basic arm teleop
+dimos run arm-teleop-xarm6     # XArm6
+dimos run arm-teleop-piper     # Piper
+dimos run arm-teleop-dual      # Dual arm
 ```
 
-Server starts at `https://localhost:8443`
+Open `https://<host-ip>:8443/teleop` on Quest browser. Accept cert, tap Connect.
 
-SSL certificates are generated automatically on first run in `assets/teleop_certs/`.
+## Subclassing
 
-## Message Flow
+| Method | Purpose |
+|--------|---------|
+| `_handle_engage()` | Customize engage/disengage logic |
+| `_should_publish()` | Add conditions for publishing |
+| `_get_output_pose()` | Customize pose computation |
+| `_publish_msg()` | Change output format |
 
-```
-Quest Browser                    Deno Server                    Python
-    │                                │                             │
-    │── PoseStamped (left) ────────→ │── vr_left_pose ───────────→ │
-    │── PoseStamped (right) ───────→ │── vr_right_pose ──────────→ │
-    │── Joy (left controller) ─────→ │── vr_left_joy ────────────→ │
-    │── Joy (right controller) ────→ │── vr_right_joy ───────────→ │
-```
-
-## LCM Topics
-
-| Topic | Type | Description |
-|-------|------|-------------|
-| `vr_left_pose` | PoseStamped | Left controller pose (WebXR frame) |
-| `vr_right_pose` | PoseStamped | Right controller pose (WebXR frame) |
-| `vr_left_joy` | Joy | Left controller buttons/axes |
-| `vr_right_joy` | Joy | Right controller buttons/axes |
+`self._lock` is already held — don't acquire it in overrides.
 
 ## Joy Message Format
 
-Quest controller data is packed into Joy messages:
+**Axes**: thumbstick X, thumbstick Y, trigger (analog), grip (analog)
 
-**Axes** (indices 0-3):
-- 0: thumbstick X (-1.0 to 1.0)
-- 1: thumbstick Y (-1.0 to 1.0)
-- 2: trigger (analog 0.0-1.0)
-- 3: grip (analog 0.0-1.0)
+**Buttons**: trigger, grip, touchpad, thumbstick, X/A, Y/B, menu
 
-**Buttons** (indices 0-6, digital 0 or 1):
-- 0: trigger (pressed)
-- 1: grip (pressed)
-- 2: touchpad
-- 3: thumbstick press
-- 4: X/A (primary)
-- 5: Y/B (secondary)
-- 6: menu
+## File Structure
+
+```
+quest/
+├── quest_teleop_module.py   # Base module
+├── quest_extensions.py      # ArmTeleop, TwistTeleop, VisualizingTeleop
+├── quest_types.py           # QuestControllerState, Buttons
+├── blueprints.py
+└── web/static/index.html    # WebXR client
+```

From cd9fc156c295b3417472bdf56752935b1bd53efa Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 28 Feb 2026 12:17:35 -0800
Subject: [PATCH 09/13] misc: debug prints

---
 dimos/web/dimos_interface/api/server.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/dimos/web/dimos_interface/api/server.py b/dimos/web/dimos_interface/api/server.py
index 5d487e1180..4006c52cd9 100644
--- a/dimos/web/dimos_interface/api/server.py
+++ b/dimos/web/dimos_interface/api/server.py
@@ -66,7 +66,6 @@ def __init__(  # type: ignore[no-untyped-def]
         audio_subject=None,
         **streams,
     ) -> None:
-        print("Starting FastAPIServer initialization...")  # Debug print
         super().__init__(dev_name, edge_type)
         self.app = FastAPI()
         self._server: uvicorn.Server | None = None
@@ -120,9 +119,7 @@ def __init__(  # type: ignore[no-untyped-def]
                 self.text_disposables[key] = disposable
                 self.disposables.add(disposable)
 
-        print("Setting up routes...")  # Debug print
         self.setup_routes()
-        print("FastAPIServer initialization complete")  # Debug print
 
     def process_frame_fastapi(self, frame):  # type: ignore[no-untyped-def]
         """Convert frame to JPEG format for streaming."""

From db1c6195364ef612d0e208e35e661f8ff20a63bf Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 28 Feb 2026 12:22:49 -0800
Subject: [PATCH 10/13] fix: remove unused In

---
 dimos/teleop/phone/phone_teleop_module.py | 2 +-
 dimos/teleop/quest/quest_teleop_module.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/dimos/teleop/phone/phone_teleop_module.py b/dimos/teleop/phone/phone_teleop_module.py
index 8ddc6e4e01..82c240389a 100644
--- a/dimos/teleop/phone/phone_teleop_module.py
+++ b/dimos/teleop/phone/phone_teleop_module.py
@@ -36,7 +36,7 @@
 
 from dimos.core.core import rpc
 from dimos.core.module import Module, ModuleConfig
-from dimos.core.stream import In, Out
+from dimos.core.stream import Out
 from dimos.msgs.geometry_msgs import Twist, TwistStamped, Vector3
 from dimos.msgs.std_msgs.Bool import Bool
 from dimos.utils.logging_config import setup_logger
diff --git a/dimos/teleop/quest/quest_teleop_module.py b/dimos/teleop/quest/quest_teleop_module.py
index f81f6aa4e9..e176a91eea 100644
--- a/dimos/teleop/quest/quest_teleop_module.py
+++ b/dimos/teleop/quest/quest_teleop_module.py
@@ -36,7 +36,7 @@
 
 from dimos.core.core import rpc
 from dimos.core.module import Module, ModuleConfig
-from dimos.core.stream import In, Out
+from dimos.core.stream import Out
 from dimos.msgs.geometry_msgs import PoseStamped
 from dimos.msgs.sensor_msgs import Joy
 from dimos.teleop.quest.quest_types import Buttons, QuestControllerState

From 23a1e97c812c79dbc70f75ca6950b32ba892d478 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 28 Feb 2026 13:20:59 -0800
Subject: [PATCH 11/13] fix: path correction

---
 dimos/teleop/quest/{web => }/README.md | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename dimos/teleop/quest/{web => }/README.md (100%)

diff --git a/dimos/teleop/quest/web/README.md b/dimos/teleop/quest/README.md
similarity index 100%
rename from dimos/teleop/quest/web/README.md
rename to dimos/teleop/quest/README.md

From 338734fdce07fca2a2ca94c20a302e35a2fe65e1 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 28 Feb 2026 14:04:44 -0800
Subject: [PATCH 12/13] Misc: path for ssl certs

---
 dimos/teleop/phone/phone_teleop_module.py | 3 ++-
 dimos/teleop/quest/quest_teleop_module.py | 3 ++-
 dimos/web/dimos_interface/api/server.py   | 7 +++----
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/dimos/teleop/phone/phone_teleop_module.py b/dimos/teleop/phone/phone_teleop_module.py
index 82c240389a..4d40b995f3 100644
--- a/dimos/teleop/phone/phone_teleop_module.py
+++ b/dimos/teleop/phone/phone_teleop_module.py
@@ -40,6 +40,7 @@
 from dimos.msgs.geometry_msgs import Twist, TwistStamped, Vector3
 from dimos.msgs.std_msgs.Bool import Bool
 from dimos.utils.logging_config import setup_logger
+from dimos.utils.path_utils import get_project_root
 from dimos.web.robot_web_interface import RobotWebInterface
 
 logger = setup_logger()
@@ -198,7 +199,7 @@ def _start_server(self) -> None:
 
         self._web_server_thread = threading.Thread(
             target=self._web_server.run,
-            kwargs={"ssl": True},
+            kwargs={"ssl": True, "ssl_certs_dir": get_project_root() / "assets" / "teleop_certs"},
             daemon=True,
             name="PhoneTeleopWebServer",
         )
diff --git a/dimos/teleop/quest/quest_teleop_module.py b/dimos/teleop/quest/quest_teleop_module.py
index e176a91eea..2101212305 100644
--- a/dimos/teleop/quest/quest_teleop_module.py
+++ b/dimos/teleop/quest/quest_teleop_module.py
@@ -42,6 +42,7 @@
 from dimos.teleop.quest.quest_types import Buttons, QuestControllerState
 from dimos.teleop.utils.teleop_transforms import webxr_to_robot
 from dimos.utils.logging_config import setup_logger
+from dimos.utils.path_utils import get_project_root
 from dimos.web.robot_web_interface import RobotWebInterface
 
 logger = setup_logger()
@@ -254,7 +255,7 @@ def _start_server(self) -> None:
 
         self._web_server_thread = threading.Thread(
             target=self._web_server.run,
-            kwargs={"ssl": True},
+            kwargs={"ssl": True, "ssl_certs_dir": get_project_root() / "assets" / "teleop_certs"},
             daemon=True,
             name="QuestTeleopWebServer",
         )
diff --git a/dimos/web/dimos_interface/api/server.py b/dimos/web/dimos_interface/api/server.py
index 4006c52cd9..f77f9ac4a7 100644
--- a/dimos/web/dimos_interface/api/server.py
+++ b/dimos/web/dimos_interface/api/server.py
@@ -385,15 +385,14 @@ def _ensure_certs(certs_dir: Path) -> tuple[str, str]:
             raise RuntimeError(f"Failed to generate certificates: {result.stderr.decode()}")
         return str(cert_path), str(key_path)
 
-    _DEFAULT_CERTS_DIR = Path.home() / ".dimos" / "ssl_certs"
-
     def run(self, ssl: bool = False, ssl_certs_dir: Path | str | None = None) -> None:
         ssl_certfile = None
         ssl_keyfile = None
 
         if ssl:
-            certs_dir = Path(ssl_certs_dir) if ssl_certs_dir else self._DEFAULT_CERTS_DIR
-            ssl_certfile, ssl_keyfile = self._ensure_certs(certs_dir)
+            if ssl_certs_dir is None:
+                raise ValueError("ssl_certs_dir is required when ssl=True")
+            ssl_certfile, ssl_keyfile = self._ensure_certs(Path(ssl_certs_dir))
 
         config = uvicorn.Config(
             self.app,

From f11479f3fd86a23377e870874bc527331648111b Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 28 Feb 2026 14:51:42 -0800
Subject: [PATCH 13/13] fix: catch frame_id if its not left or right

---
 dimos/teleop/quest/quest_teleop_module.py | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/dimos/teleop/quest/quest_teleop_module.py b/dimos/teleop/quest/quest_teleop_module.py
index 2101212305..f862558424 100644
--- a/dimos/teleop/quest/quest_teleop_module.py
+++ b/dimos/teleop/quest/quest_teleop_module.py
@@ -221,16 +221,24 @@ def get_status(self) -> QuestTeleopStatus:
     # WebSocket Message Decoders
     # -------------------------------------------------------------------------
 
+    @staticmethod
+    def _resolve_hand(frame_id: str) -> Hand:
+        if frame_id == "left":
+            return Hand.LEFT
+        elif frame_id == "right":
+            return Hand.RIGHT
+        raise ValueError(f"Unexpected frame_id: {frame_id!r}, expected 'left' or 'right'")
+
     def _on_pose_bytes(self, data: bytes) -> None:
-        """Decode LCM bytes into PoseStamped, route by frame_id, transform to robot frame."""
+        """Decode LCM bytes into PoseStamped, transform to robot frame."""
         msg = PoseStamped.lcm_decode(data)
-        hand = Hand.LEFT if msg.frame_id == "left" else Hand.RIGHT
+        hand = self._resolve_hand(msg.frame_id)
         robot_pose = webxr_to_robot(msg, is_left_controller=(hand == Hand.LEFT))
         with self._lock:
             self._current_poses[hand] = robot_pose
 
     def _on_joy_bytes(self, data: bytes) -> None:
-        """Decode LCM bytes into Joy, route by frame_id, parse into QuestControllerState."""
+        """Decode LCM bytes into Joy, parse into QuestControllerState."""
         msg = Joy.lcm_decode(data)
         hand = Hand.LEFT if msg.frame_id == "left" else Hand.RIGHT
         try: