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Before we dive too deep into this It should be noted that while root is not necessary for the Double Tap To Wake Feature to be enabled you will need to be bootloader unlocked with TWRP installed. You will be using the TWRP file manager to modify the system. Double Tap To Wake is present on the Nexus 6 but not enabled. To enable head to the link below to download the moddified power.shamu.so. You will need to boot into TWRP and backup /system/lib/hw/power.shamu.so, then copy the moddified version of the same file. Then just reboot your N6.
Via XDA