MuJoCo Web Viewer: update code to support the web viewer

PiperOrigin-RevId: 957147035
Change-Id: Ibe5d68b2654a7faac23c297d4f492929209c078d

python/mujoco/experimental/studio/launch_passive.py

@@ -93,9 +93,7 @@ def run_viewer_target(
 
   Raises:
     ValueError: If the viewer mode requested in config is unknown.
-    NotImplementedError: If web mode is requested.
   """
-
   if config.viewer_mode == viewer_protocol.ViewerMode.NATIVE:
     from mujoco.experimental.studio import native_viewer  # pylint: disable=g-import-not-at-top
 
@@ -103,7 +101,9 @@ def run_viewer_target(
         config, viewer_endpoint, handlers=handlers
     )
   elif config.viewer_mode == viewer_protocol.ViewerMode.WEB:
-    raise NotImplementedError('Web viewer not implemented yet')
+    from mujoco.experimental.studio import web_viewer  # pylint: disable=g-import-not-at-top
+
+    viewer = web_viewer.WebViewer(config, viewer_endpoint, handlers=handlers)
   else:
     raise ValueError(f'Unknown viewer mode: {config.viewer_mode!r}')