Switch from msgpack-lite to msgpack-javascript #132
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See RobotLocomotion/drake#17861 for a detailed description and analysis. We've seen approximately a 10x speed up in demarshalling approximately 30 MB of scene data. This includes a small refactor of the handle_command to allow decode() to be called directly (since consumers of the Viewer might want to use the additionally defined msgpack types). Also fixes a small bug with accumulating camera/light controllers.
RussTedrake
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Oct 29, 2022
Resolves RobotLocomotion#17861. Depends on meshcat-dev/meshcat#132. Importantly, I've also exported the msgpack requirement via meshcat.js, so that we don't need to build it again ourselves here. msgpack-lite included the msgpack.min.js in it's github distribution, but msgpack-javascript does not. I would have needed to pull it from some CDN or NPM server, or build it locally (which would require node as a dependency). Also fixes a bug when setting PerspectiveCameras.
rdeits
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Nov 5, 2022
| const to_return = new Uint32Array(data.byteLength / 4); | ||
| let dataview = new DataView(data.buffer, data.byteOffset, data.byteLength); | ||
| for (let i = 0; i < to_return.length; i++) { | ||
| to_return[i] = dataview.getUint32(i * 4, true); // true b.c. littleEndian |
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It's still surprising that a JS loop over every byte of data could somehow be performant but 🤷 V8 is magic
RussTedrake
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Nov 5, 2022
This update includes my recent meshcat PR meshcat-dev/meshcat#132, which switches meshcat to using msgpack-javascript instead of msgpack-lite. Resolves RobotLocomotion#17861. Importantly, I've also exported the msgpack requirement via meshcat.js, so that we don't need to build it again ourselves here. msgpack-lite included the msgpack.min.js in it's github distribution, but msgpack-javascript does not. I would have needed to pull it from some CDN or NPM server, or build it locally (which would require node as a dependency).
RussTedrake
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Nov 5, 2022
This update includes my recent meshcat PR meshcat-dev/meshcat#132, which switches meshcat to using msgpack-javascript instead of msgpack-lite. Resolves RobotLocomotion#17861. Importantly, I've also exported the msgpack requirement via meshcat.js, so that we don't need to build it again ourselves here. msgpack-lite included the msgpack.min.js in its github distribution, but msgpack-javascript does not. I would have needed to pull it from some CDN or NPM server, or build it locally (which would require node as a dependency).
jwnimmer-tri
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Nov 7, 2022
This update includes my recent meshcat PR meshcat-dev/meshcat#132, which switches meshcat to using msgpack-javascript instead of msgpack-lite. Resolves #17861. Importantly, I've also exported the msgpack requirement via meshcat.js, so that we don't need to build it again ourselves here. msgpack-lite included the msgpack.min.js in its github distribution, but msgpack-javascript does not. I would have needed to pull it from some CDN or NPM server, or build it locally (which would require node as a dependency).
RussTedrake
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Nov 18, 2022
It turns out that meshcat-python was using the `handle_command_bytearray` entry point for the static html content. My PR meshcat-dev#132 broke that (sorry!). This restores that interface and functionality.
yzqin
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Jan 10, 2023
It turns out that meshcat-python was using the `handle_command_bytearray` entry point for the static html content. My PR meshcat-dev#132 broke that (sorry!). This restores that interface and functionality.
xuchen-han
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Feb 6, 2023
…omotion#18269) This update includes my recent meshcat PR meshcat-dev/meshcat#132, which switches meshcat to using msgpack-javascript instead of msgpack-lite. Resolves RobotLocomotion#17861. Importantly, I've also exported the msgpack requirement via meshcat.js, so that we don't need to build it again ourselves here. msgpack-lite included the msgpack.min.js in its github distribution, but msgpack-javascript does not. I would have needed to pull it from some CDN or NPM server, or build it locally (which would require node as a dependency).
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See RobotLocomotion/drake#17861 for a detailed description and analysis. We've seen approximately a 10x speed up in demarshalling approximately 30 MB of scene data.
This includes a small refactor of the handle_command to allow decode() to be called directly (since consumers of the Viewer might want to use the additionally defined msgpack types).
Also fixes a small bug with accumulating camera/light controllers.