fix: change default viewer from rerun-web to rerun (dimos-viewer) (#1478)

* fix: change default viewer from rerun-web to rerun (dimos-viewer)

The native Rerun viewer (dimos-viewer) is now the default. The web
dashboard remains available via --viewer-backend rerun-web.

- GlobalConfig: viewer_backend default 'rerun-web' -> 'rerun'
- Updated visualization docs to reflect new default

* docs: add localhost:7779 teleop URL to rerun native viewer docs

* docs: update viewer modes for dimos-viewer fork + localhost:7779 for rerun-web

Author: spomichter

dimos/core/global_config.py

@@ -31,7 +31,7 @@ class GlobalConfig(BaseSettings):
     robot_ips: str | None = None
     simulation: bool = False
     replay: bool = False
-    viewer: ViewerBackend = "rerun-web"
+    viewer: ViewerBackend = "rerun"
     n_workers: int = 2
     memory_limit: str = "auto"
     mujoco_camera_position: str | None = None

docs/usage/visualization.md

@@ -7,7 +7,7 @@ Dimos supports three visualization backends: Rerun (web or native) and Foxglove.
 Choose your viewer via the CLI (preferred):
 
 ```bash
-# Rerun web viewer (default) - Full vis dashboard and teleop panel in browser
+# Rerun native viewer (default) - dimos-viewer with built-in teleop + click-to-navigate
 dimos run unitree-go2
 
 # Explicitly select the viewer mode:
@@ -19,33 +19,35 @@ dimos --viewer foxglove run unitree-go2
 Alternative (environment variable):
 
 ```bash
-# Rerun web viewer - Full dashboard in browser
-VIEWER=rerun-web dimos run unitree-go2
-
-# Rerun native viewer - native Rerun window + teleop panel at http://localhost:7779
+# Rerun native viewer (default) - dimos-viewer with built-in teleop + click-to-navigate
 VIEWER=rerun dimos run unitree-go2
 
+# Rerun web viewer - browser dashboard + teleop at http://localhost:7779
+VIEWER=rerun-web dimos run unitree-go2
+
 # Foxglove - Use Foxglove Studio instead of Rerun
 VIEWER=foxglove dimos run unitree-go2
 ```
 
 ## Viewer Modes Explained
 
-### Rerun Web (`rerun-web`)
+### Rerun Native (`rerun`) — Default
 
 **What you get:**
-- Full dashboard at http://localhost:7779
-- Rerun 3D viewer + command center sidebar in one page
-- Works in browser, no display required (headless-friendly)
+- [dimos-viewer](https://github.com/dimensionalOS/dimos-viewer), a custom Dimensional fork of Rerun with built-in keyboard teleop and click-to-navigate
+- Native desktop application (opens automatically)
+- Better performance with larger maps/higher resolution
+- No browser or web server required
 
 ---
 
-### Rerun Native (`rerun`)
+### Rerun Web (`rerun-web`)
 
 **What you get:**
-- Native Rerun application (separate window opens automatically)
-- Command center at http://localhost:7779
-- Better performance with larger maps/higher resolution
+- Browser-based dashboard at http://localhost:7779
+- Rerun 3D viewer + command center sidebar in one page
+- Teleop controls and goal setting via the web UI
+- Works headless (no display required)
 
 ---