Currently, how is it possible to display a robot simulation built with an .sdf file and Gazebo Ignition (ROS2) in a web page?

There are several sketched solutions, but they are all not working because they are obsolete, working with ROS1 or Gazebo Classic, or because of other issues.

I give below a list of the tools I found, but with which I did not achieve the goal:

• gzweb https://github.com/gazebo-web/gzweb/tree/main
• ros3djs https://github.com/RobotWebTools/ros3djs
• roslibjs https://github.com/RobotWebTools/roslibjs

I know that three.js is used under the hood, but I would like to avoid doing all the work of parsing all the signals and connecting to the websocket manually.
Thank you