A browser refuses a plain ws:// socket from an HTTPS page as mixed content, so on the Space the viewer sat retrying 'waiting for sim' forever while the sim was running fine.
Physics run headless in MuJoCo and stream joint angles over a WebSocket; the robot is drawn client-side by three.js, so there is no server-side rendering. Policies (Holosoma, GR00T, SONIC) are selectable live, the robot can be dragged around, and lerobot is installed unpatched from upstream main.
