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

Author: spomichter

dimos/core/global_config.py

@@ -30,7 +30,7 @@ class GlobalConfig(BaseSettings):
     robot_ip: str | None = None
     simulation: bool = False
     replay: bool = False
-    viewer_backend: ViewerBackend = "rerun-web"
+    viewer_backend: 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 backend via the CLI (preferred):
 
 ```bash
-# Rerun web viewer (default) - Full vis dashboard and teleop panel in browser
+# Rerun native viewer (default) - native dimos-viewer window
 dimos run unitree-go2
 
 # Explicitly select the viewer backend:
@@ -19,12 +19,12 @@ dimos --viewer-backend foxglove run unitree-go2
 Alternative (environment variable):
 
 ```bash
-# Rerun web viewer - Full dashboard in browser
-VIEWER_BACKEND=rerun-web dimos run unitree-go2
-
-# Rerun native viewer - native Rerun window + teleop panel at http://localhost:7779
+# Rerun native viewer (default) - native dimos-viewer window
 VIEWER_BACKEND=rerun dimos run unitree-go2
 
+# Rerun web viewer - Full dashboard in browser + teleop panel
+VIEWER_BACKEND=rerun-web dimos run unitree-go2
+
 # Foxglove - Use Foxglove Studio instead of Rerun
 VIEWER_BACKEND=foxglove dimos run unitree-go2
 ```