another try

nginx.conf

@@ -22,7 +22,8 @@ http {
       proxy_http_version 1.1;
       proxy_set_header Upgrade $http_upgrade;
       proxy_set_header Connection $connection_upgrade;
-      proxy_pass http://meshcat/;
+      # proxy_pass http://meshcat/;
+      proxy_pass http://meshcat/static/;
     }
   }
 }

robots.py

@@ -30,8 +30,9 @@ class LiveRobot:
     """
     def __init__(self, robot_name="ur5"):
         # Start one MeshCat server (zmq + web) and connect
-        self.proc, self.zmq_url, self.web_url = start_zmq_server_as_subprocess(server_args=[])
-        print(f"MeshCat ZMQ server at {self.zmq_url}, web at {self.web_url}")
+        #self.proc, self.zmq_url, self.web_url = start_zmq_server_as_subprocess( server_args=[])
+        self.zmq_url = "tcp://0.0.0.0:6001"
+        #print(f"MeshCat ZMQ server at {self.zmq_url}, web at {self.web_url}")
         self.vis = meshcat.Visualizer(zmq_url=self.zmq_url)
 
         self.rdata = erd.load(robot_name)
@@ -63,4 +64,4 @@ class LiveRobot:
 
     def iframe(self, width="100%", height=640):
         # nginx proxies the MeshCat web app at /meshcat/
-        return f'<iframe src="/meshcat/static/" style="width:{width};height:{height}px;border:0"></iframe>'
+        return f'<iframe src="/meshcat" style="width:{width};height:{height}px;border:0"></iframe>'

run.sh

@@ -2,7 +2,7 @@
 set -euo pipefail
 
 # 1) start MeshCat (websocket server) on 6001 in the background
-#meshcat-server --z tcp://127.0.0.1:6001 &
+meshcat-server --z tcp://127.0.0.1:6001 &
 
 # 2) start nginx (daemonizes to background by default; uses /workspace/nginx.conf)
 nginx