I just released the first version of marionette (named after the protocol it implements), a Racket library that lets you remotely control the Firefox web browser. Think "puppeteer", but for Firefox.
You can install it from the package server with:
raco pkg install marionette
And the docs should show up on the package server within the next couple of days. In the mean time, you can run
raco docs marionette
after installing the package to read its docs locally.
It's still early days, but the library already supports most of the basic things you would expect it to. If you try it out, let me know what you think!