From cb8a12c9bf29c8bf541586c8934d13256bcec250 Mon Sep 17 00:00:00 2001
From: Cornelius Krupp <cornelius.krupp@studium.uni-hamburg.de>
Date: Tue, 18 Aug 2026 16:43:50 +0200
Subject: [PATCH 1/2] Add web parameter to multirobot sim and default web to
 true

---
 .../bitbots_bringup/launch/mujoco_simulation.launch.py    | 8 +++++++-
 .../bitbots_bringup/launch/simulator_teamplayer.launch    | 2 +-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py b/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py
index 39a73f5326..67713df8ed 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py
+++ b/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py
@@ -115,6 +115,7 @@ def launch_setup(context):
     """Dynamically set up launches based on num_robots."""
     num_robots = int(LaunchConfiguration("num_robots").perform(context))
     robot_type = str(LaunchConfiguration("robot_type").perform(context))
+    use_web = LaunchConfiguration("web").perform(context).lower() == "true"
     package_share = get_package_share_directory("bitbots_mujoco_sim")
     bridge_config_dir = Path(package_share) / "config" / "domain_bridges"
 
@@ -139,7 +140,7 @@ def launch_setup(context):
             name="sim_interface",
             output="screen",
             emulate_tty=True,
-            parameters=[{"world_file": str(world_file)}],
+            parameters=[{"world_file": str(world_file), "web": use_web}],
         ),
     )
 
@@ -196,6 +197,11 @@ def generate_launch_description():
             default_value="piplus",
             description="Set the type of robot used (piplus, x02)",
         ),
+        DeclareLaunchArgument(
+            "web",
+            default_value="true",
+            description="Use web-based mjviser viewer instead of the native MuJoCo viewer",
+        )
     ]
 
     # Add all teamplayer arguments with empty default (means use teamplayer's default)
diff --git a/src/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch b/src/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch
index 3727622c49..e29c13aab2 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch
@@ -12,7 +12,7 @@
     <arg name="vision" default="true" description="Whether the vision system should be started" />
     <arg name="world_model" default="true" description="Whether the world model should be started"/>
     <arg name="rl_motion" default="true" description="Whether to use the RL motion system instead of the regular one" />
-    <arg name="web" default="false" description="Use web-based mjviser viewer instead of the native MuJoCo viewer"/>
+    <arg name="web" default="true" description="Use web-based mjviser viewer instead of the native MuJoCo viewer"/>
 
     <!-- load the general simulator -->
     <include file="$(find-pkg-share bitbots_mujoco_sim)/launch/simulator.launch" >

From 48c7fe41ed9fb7f4452423deab9ad8639d7f0f8c Mon Sep 17 00:00:00 2001
From: Cornelius Krupp <cornelius.krupp@studium.uni-hamburg.de>
Date: Tue, 18 Aug 2026 17:27:56 +0200
Subject: [PATCH 2/2] pixi format

---
 .../bitbots_bringup/launch/mujoco_simulation.launch.py          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py b/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py
index 67713df8ed..f2ac1aa5a4 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py
+++ b/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py
@@ -201,7 +201,7 @@ def generate_launch_description():
             "web",
             default_value="true",
             description="Use web-based mjviser viewer instead of the native MuJoCo viewer",
-        )
+        ),
     ]
 
     # Add all teamplayer arguments with empty default (means use teamplayer's default)