[python/viewer] Fallback to generic direct connection through ipykernel for Meshcat. #479
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* [core] Always regenerate original flexible model at reset to allow manual overwrite of rigid original model. (#475) * [core] Fix segfault when adding unspecified constraint. (#476) * [core] Fix 'buildReducedModel' for pinocchio < 2.6.0. (#477) * [core] Fix segfault when initializing engine with null robot. (#477) * [python/viewer] Fallback to generic direct connection through ipykernel for Meshcat (VSCode, Jupyterlab). (#479) * [python/viewer] More robust comm filtering for executing meshcat related requests out of order. (#479) * [python/viewer] Fix connection to existing meshcat process. (#479) * [python/viewer] Speed up frame capture and reduce CPU load in offscreen mode for panda3d backend. (#481) * [python/viewer] Drop support of 'gepetto-gui' backend. (#482) * [python/viewer] Fix random segfault at exit for synchronous panda3d backend. (#484) * [gym/common] Enable to provide custom robot to 'WalkerJiminyEnv'. (#477) * [gym/rllib] Refactor PPO implementation to support 'ray>=1.10.0'. (#474) (#485) * [gym/rllib] PPO supports dict and box spaces for observation/action. (#474) * [gym/rllib] PPO L2 reg only on train params. (#485) * [misc] Use Ctest for managing C++ unit tests. (#475) Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>
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Several limitations:
window.location.originis not reliable, for instance it will fail if the notebook server is hidden behind a reverse proxy, or it is embedded in a app such as VSCode. Using a tunnel and go through the usual meshcat zmq socket is an alternative solution, but it requires setting up a server or paying a service for it. Another option would be to develop a proper widget to get access to the kernel websocket through it, but it is not solution the compatibility issue with cloud notebooks providers such as deepnote, kaggle or colab.To sum up, finding a way to get access to the kernel websocket instead of opening a communication manually inside the frame seems to be necessary, but there is no way to do so by design... So being generic looks like a dead end. But the current implementation is good enough to more or less work on several platforms such as mybinder and kaggle (with a little tweak of the url origin).