finally working

app.py

@@ -2,17 +2,17 @@ import gradio as gr
 import numpy as np
 from robots import LiveRobot
 
-ROBOTS = ["ur5",  "ur10", "panda", "talos"]
+ROBOTS = ["panda", "ur5",  "ur10",  "talos"]
 
 # single global instance to keep the MeshCat connection alive
-robot = LiveRobot("ur5")
+robot = LiveRobot("panda")
 
 with gr.Blocks(title="Pinocchio + MeshCat — Live") as demo:
     gr.Markdown("### 🤖 Pinocchio + MeshCat — Live Viewer\n"
                 "Sliders update the robot in real time (no reload).")
 
     with gr.Row():
-        robot_dd = gr.Dropdown(ROBOTS, value="so101", label="Robot")
+        robot_dd = gr.Dropdown(ROBOTS, value="panda", label="Robot")
         neutral_btn = gr.Button("Neutral")
 
     viewer = gr.HTML(robot.iframe())
@@ -45,16 +45,10 @@ with gr.Blocks(title="Pinocchio + MeshCat — Live") as demo:
         robot = LiveRobot(name)
         # rebuild slider values to the new robot's neutral
         viewer_html = robot.iframe()
-        # updates = [gr.update(value=(lo+hi)/2, label=label, minimum=lo, maximum=hi)
-        #            for (label,(lo,hi)) in zip(robot.labels, robot.bounds)]
-        # Clear existing sliders
-        sliders = []
-        # Create new sliders for the new robot
-        for label, (lo, hi), qi in zip(robot.labels, robot.bounds, robot.idxs):
-            sliders.append(gr.Slider(minimum=lo, maximum=hi, step=0.01,
-                       value=float(robot.q[qi]), label=label))
+        updates = [gr.update(value=(lo+hi)/2, label=label, minimum=lo, maximum=hi)
+                   for (label,(lo,hi)) in zip(robot.labels, robot.bounds)]
         # Return viewer and new sliders
-        return [viewer_html] + sliders
+        return [viewer_html] + updates
 
     robot_dd.change(on_change_robot, inputs=robot_dd,
                     outputs=[viewer] + sliders, queue=False)

nginx.conf

@@ -6,35 +6,38 @@ http {
   default_type  application/octet-stream;
   sendfile      on;
 
-  # ws upgrade helper
+  # helper for ws upgrade header
   map $http_upgrade $connection_upgrade { default upgrade; '' close; }
 
-  # Root selector: WS upgrades -> bridge (:8765), normal HTTP -> MeshCat (:7000)
+  # decide if request at "/" is a websocket upgrade:
   map $http_upgrade $root_backend {
-    default       http://127.0.0.1:7000;   # GET / -> MeshCat HTML
-    "~*upgrade"   http://127.0.0.1:8765;   # WS / -> bridge
+    default       http://127.0.0.1:8501;  # normal HTTP -> Gradio
+    "~*upgrade"   http://127.0.0.1:8765;  # WS upgrade -> bridge
     "~*websocket" http://127.0.0.1:8765;
   }
 
   upstream app     { server 127.0.0.1:8501; }  # Gradio
-  upstream meshcat { server 127.0.0.1:7000; }  # MeshCat HTTP
+  upstream meshcat { server 127.0.0.1:7000; }  # MeshCat HTTP (/static) & WS at "/"
 
   server {
     listen 7860;
 
-    # ---- MeshCat UI mounted under /meshcat/ for embedding in <iframe>
+    # MeshCat viewer HTML lives under /static/ — mount at /meshcat/
     location /meshcat/ {
-      proxy_pass http://meshcat/static/;   # trailing slash matters
+      proxy_pass http://meshcat/static/;  # trailing slash matters
       proxy_set_header Host $host;
     }
 
-    # MeshCat also references /static/... absolutely; forward those too
+    # MeshCat HTML references /static/... absolutely — forward those too
     location /static/ {
       proxy_pass http://meshcat/static/;
       proxy_set_header Host $host;
     }
-    # ---- Root "/" : HTML -> MeshCat, WS -> bridge
-    location = / {  # exact root
+
+    # ROOT "/":
+    #   - normal HTTP (page loads, XHR, etc.) -> Gradio app
+    #   - WebSocket upgrade (opened by MeshCat JS to ws://HOST:7860/) -> WS bridge
+    location / {
       proxy_http_version 1.1;
       proxy_set_header Upgrade $http_upgrade;
       proxy_set_header Connection $connection_upgrade;
@@ -43,13 +46,5 @@ http {
       proxy_send_timeout 3600s;
       proxy_pass $root_backend;
     }
-
-
-    # ---- Your app at /ui/
-    location /ui/ {
-      proxy_pass http://app/;   # trailing slash keeps subpaths OK
-      proxy_set_header Host $host;
-    }
-
   }
-}
+}