How to directly control OSKR via the internal webservers.

[moribundant]

Once OSKR is activated, one can easily open the internal webserver ports (8887,8888,8889) via SSH. Then via the web interface at each of those ports one can essentially access the entire robot. The WebViz port is particularly useful in observing and activating behaviors. What I would like to know is how to 'get at' those servers via a Python (or other language) app. A short tutorial illustrating the key points of how to do this (if at all possible) would solve the issue. In the most naïve case, one could build an internal browser and then access via it, but it seems there is a more elegant solution out there.