Default to MjViser

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)

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" >