Default viewer to RoboMIND dual

cosmos-framework/cosmos_framework/data/vfm/action/urdf_visualizer/viewer.py

@@ -529,6 +529,7 @@ def launch_viewer(
     share: bool = False,
     chunk_length: int = 16,
     action_format_override: ActionFormat | None = None,
+    default_dataset: str = "robomind_franka_dual",
 ) -> None:
     """Launch the interactive dataset viewer."""
     global DATASETS
@@ -547,6 +548,13 @@ def launch_viewer(
     if not DATASETS:
         DATASETS = _build_datasets()
     datasets = DATASETS
+    default_dataset_name = os.environ.get("COSMOS_VIEWER_DEFAULT_DATASET", default_dataset)
+    if default_dataset_name not in datasets:
+        log.warning(
+            f"Default dataset {default_dataset_name!r} is not registered; "
+            f"falling back to {next(iter(datasets))!r}."
+        )
+        default_dataset_name = next(iter(datasets))
     dataset_cache: dict[str, Any] = {}
     dataset_locks: dict[str, Any] = {}
     dataset_cache_lock = _threading.Lock()
@@ -586,7 +594,7 @@ def launch_viewer(
 
         with client.gui.add_folder("Dataset"):
             ds_dropdown = client.gui.add_dropdown(
-                "Dataset", options=list(datasets.keys()), initial_value=list(datasets.keys())[0]
+                "Dataset", options=list(datasets.keys()), initial_value=default_dataset_name
             )
             ep_input = client.gui.add_number("Episode", initial_value=0, min=0, step=1)
             random_button = client.gui.add_button("🎲 Random episode")
@@ -949,12 +957,18 @@ def main():
         default=None,
         help="Optional override for the dataset-declared raw action format",
     )
+    parser.add_argument(
+        "--default-dataset",
+        default=os.environ.get("COSMOS_VIEWER_DEFAULT_DATASET", "robomind_franka_dual"),
+        help="Dataset key selected and loaded for new viewer sessions",
+    )
     args = parser.parse_args()
     launch_viewer(
         port=args.port,
         share=args.share,
         chunk_length=args.chunk_length,
         action_format_override=ActionFormat(args.action_format) if args.action_format is not None else None,
+        default_dataset=args.default_dataset,
     )