[bump] televuer version and decrease default fps

teleop/teleop_hand_and_arm.py

@@ -75,7 +75,7 @@ def get_state() -> dict:
 if __name__ == '__main__':
     parser = argparse.ArgumentParser()
     # basic control parameters
-    parser.add_argument('--frequency', type = float, default = 60.0, help = 'control and record \'s frequency')
+    parser.add_argument('--frequency', type = float, default = 30.0, help = 'control and record \'s frequency')
     parser.add_argument('--xr-mode', type=str, choices=['hand', 'controller'], default='hand', help='Select XR device tracking source')
     parser.add_argument('--arm', type=str, choices=['G1_29', 'G1_23', 'H1_2', 'H1'], default='G1_29', help='Select arm controller')
     parser.add_argument('--ee', type=str, choices=['dex1', 'dex3', 'inspire_ftp', 'inspire_dfx', 'brainco'], help='Select end effector controller')
@@ -85,8 +85,8 @@ if __name__ == '__main__':
     parser.add_argument('--sim', action = 'store_true', help = 'Enable isaac simulation mode')
     parser.add_argument('--ipc', action = 'store_true', help = 'Enable IPC server to handle input; otherwise enable sshkeyboard')
     parser.add_argument('--pass-through', action='store_true', help='Enable passthrough mode (use real-world view in XR device)')
-    parser.add_argument('--img-server-ip', type=str, default='192.168.123.164', help='IP address of image server')
     parser.add_argument('--affinity', action = 'store_true', help = 'Enable high priority and set CPU affinity mode')
+    parser.add_argument('--img-server-ip', type=str, default='192.168.123.164', help='IP address of image server')
     # record mode and task info
     parser.add_argument('--record', action = 'store_true', help = 'Enable data recording mode')
     parser.add_argument('--task-dir', type = str, default = './utils/data/', help = 'path to save data')
@@ -122,7 +122,8 @@ if __name__ == '__main__':
                                      binocular=camera_config['head_camera']['binocular'],
                                      img_shape=camera_config['head_camera']['image_shape'],
                                      webrtc=camera_config['head_camera']['enable_webrtc'],
-                                     webrtc_url=f"https://{args.img_server_ip}:{camera_config['head_camera']['webrtc_port']}/offer")
+                                     webrtc_url=f"https://{args.img_server_ip}:{camera_config['head_camera']['webrtc_port']}/offer",
+                                     display_fps=args.frequency)
         
         # motion mode (G1: Regular mode R1+X, not Running mode R2+A)
         if args.motion:

teleop/televuer

@@ -1 +1 @@
-Subproject commit d32511fc9058cc277ac7443d903c00332f1be630
+Subproject commit d6a20e483af8f5d0a77fdc307448808e018dd074