diff --git a/teleop/robot_control/hand_retargeting.py b/teleop/robot_control/hand_retargeting.py
index 80872b9..2d72f33 100644
--- a/teleop/robot_control/hand_retargeting.py
+++ b/teleop/robot_control/hand_retargeting.py
@@ -3,7 +3,7 @@ from pathlib import Path
 import yaml
 from enum import Enum
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__)
+logger_mp = logging_mp.getLogger(__name__)
 
 class HandType(Enum):
     INSPIRE_HAND = "../assets/inspire_hand/inspire_hand.yml"
diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py
index 2961110..957d7bb 100644
--- a/teleop/robot_control/robot_arm.py
+++ b/teleop/robot_control/robot_arm.py
@@ -12,7 +12,7 @@ from unitree_sdk2py.idl.unitree_go.msg.dds_ import ( LowCmd_  as go_LowCmd, LowS
 from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
 
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__)
+logger_mp = logging_mp.getLogger(__name__)
 
 kTopicLowCommand_Debug  = "rt/lowcmd"
 kTopicLowCommand_Motion = "rt/arm_sdk"
diff --git a/teleop/robot_control/robot_arm_ik.py b/teleop/robot_control/robot_arm_ik.py
index 0dfdecc..c5665d6 100644
--- a/teleop/robot_control/robot_arm_ik.py
+++ b/teleop/robot_control/robot_arm_ik.py
@@ -9,7 +9,7 @@ import os
 import sys
 import pickle
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__)
+logger_mp = logging_mp.getLogger(__name__)
 parent2_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 sys.path.append(parent2_dir)
 
diff --git a/teleop/robot_control/robot_hand_brainco.py b/teleop/robot_control/robot_hand_brainco.py
index d0f5d9a..fbb7e03 100644
--- a/teleop/robot_control/robot_hand_brainco.py
+++ b/teleop/robot_control/robot_hand_brainco.py
@@ -10,7 +10,7 @@ import time
 from multiprocessing import Process, Array
 
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__)
+logger_mp = logging_mp.getLogger(__name__)
 
 brainco_Num_Motors = 6
 kTopicbraincoLeftCommand = "rt/brainco/left/cmd"
diff --git a/teleop/robot_control/robot_hand_inspire.py b/teleop/robot_control/robot_hand_inspire.py
index fbec865..292136e 100644
--- a/teleop/robot_control/robot_hand_inspire.py
+++ b/teleop/robot_control/robot_hand_inspire.py
@@ -9,7 +9,7 @@ import time
 from multiprocessing import Process, Array
 
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__)
+logger_mp = logging_mp.getLogger(__name__)
 
 Inspire_Num_Motors = 6
 kTopicInspireDFXCommand = "rt/inspire/cmd"
diff --git a/teleop/robot_control/robot_hand_unitree.py b/teleop/robot_control/robot_hand_unitree.py
index d10fd7a..350f7c3 100644
--- a/teleop/robot_control/robot_hand_unitree.py
+++ b/teleop/robot_control/robot_hand_unitree.py
@@ -21,7 +21,7 @@ from teleop.robot_control.hand_retargeting import HandRetargeting, HandType
 from teleop.utils.weighted_moving_filter import WeightedMovingFilter
 
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__)
+logger_mp = logging_mp.getLogger(__name__)
 
 
 Dex3_Num_Motors = 7
diff --git a/teleop/teleimager b/teleop/teleimager
index 89d4613..2aab15d 160000
--- a/teleop/teleimager
+++ b/teleop/teleimager
@@ -1 +1 @@
-Subproject commit 89d461330479ed0d71d642e092acea9e9fe71494
+Subproject commit 2aab15d9601865ab6bee334ae26839e0306b0770
diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index b4afb92..8cafba3 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -3,8 +3,8 @@ import argparse
 from multiprocessing import Value, Array, Lock
 import threading
 import logging_mp
-logging_mp.basic_config(level=logging_mp.INFO)
-logger_mp = logging_mp.get_logger(__name__)
+logging_mp.basicConfig(level=logging_mp.INFO)
+logger_mp = logging_mp.getLogger(__name__)
 
 import os 
 import sys
@@ -116,7 +116,7 @@ if __name__ == '__main__':
             listen_keyboard_thread.start()
 
         # image client
-        img_client = ImageClient(host=args.img_server_ip)
+        img_client = ImageClient(host=args.img_server_ip, request_bgr=True)
         camera_config = img_client.get_cam_config()
         logger_mp.debug(f"Camera config: {camera_config}")
         xr_need_local_img = not (args.display_mode == 'pass-through' or camera_config['head_camera']['enable_webrtc'])
@@ -251,7 +251,7 @@ if __name__ == '__main__':
         while not START and not STOP: # wait for start or stop signal.
             time.sleep(0.033)
             if camera_config['head_camera']['enable_zmq'] and xr_need_local_img:
-                head_img, _ = img_client.get_head_frame()
+                head_img = img_client.get_head_frame()
                 tv_wrapper.render_to_xr(head_img)
 
         logger_mp.info("---------------------🚀start Tracking🚀-------------------------")
@@ -262,15 +262,15 @@ if __name__ == '__main__':
             # get image
             if camera_config['head_camera']['enable_zmq']:
                 if args.record or xr_need_local_img:
-                    head_img, head_img_fps = img_client.get_head_frame()
+                    head_img = img_client.get_head_frame()
                 if xr_need_local_img:
                     tv_wrapper.render_to_xr(head_img)
             if camera_config['left_wrist_camera']['enable_zmq']:
                 if args.record:
-                    left_wrist_img, _ = img_client.get_left_wrist_frame()
+                    left_wrist_img = img_client.get_left_wrist_frame()
             if camera_config['right_wrist_camera']['enable_zmq']:
                 if args.record:
-                    right_wrist_img, _ = img_client.get_right_wrist_frame()
+                    right_wrist_img = img_client.get_right_wrist_frame()
 
             # record mode
             if args.record and RECORD_TOGGLE:
@@ -387,18 +387,18 @@ if __name__ == '__main__':
                     depths = {}
                     if camera_config['head_camera']['binocular']:
                         if head_img is not None:
-                            colors[f"color_{0}"] = head_img[:, :camera_config['head_camera']['image_shape'][1]//2]
-                            colors[f"color_{1}"] = head_img[:, camera_config['head_camera']['image_shape'][1]//2:]
+                            colors[f"color_{0}"] = head_img.bgr[:, :camera_config['head_camera']['image_shape'][1]//2]
+                            colors[f"color_{1}"] = head_img.bgr[:, camera_config['head_camera']['image_shape'][1]//2:]
                         else:
                             logger_mp.warning("Head image is None!")
                         if camera_config['left_wrist_camera']['enable_zmq']:
                             if left_wrist_img is not None:
-                                colors[f"color_{2}"] = left_wrist_img
+                                colors[f"color_{2}"] = left_wrist_img.bgr
                             else:
                                 logger_mp.warning("Left wrist image is None!")
                         if camera_config['right_wrist_camera']['enable_zmq']:
                             if right_wrist_img is not None:
-                                colors[f"color_{3}"] = right_wrist_img
+                                colors[f"color_{3}"] = right_wrist_img.bgr
                             else:
                                 logger_mp.warning("Right wrist image is None!")
                     else:
@@ -408,12 +408,12 @@ if __name__ == '__main__':
                             logger_mp.warning("Head image is None!")
                         if camera_config['left_wrist_camera']['enable_zmq']:
                             if left_wrist_img is not None:
-                                colors[f"color_{1}"] = left_wrist_img
+                                colors[f"color_{1}"] = left_wrist_img.bgr
                             else:
                                 logger_mp.warning("Left wrist image is None!")
                         if camera_config['right_wrist_camera']['enable_zmq']:
                             if right_wrist_img is not None:
-                                colors[f"color_{2}"] = right_wrist_img
+                                colors[f"color_{2}"] = right_wrist_img.bgr
                             else:
                                 logger_mp.warning("Right wrist image is None!")
                     states = {
diff --git a/teleop/utils/episode_writer.py b/teleop/utils/episode_writer.py
index 7fe79af..2ca4dd1 100644
--- a/teleop/utils/episode_writer.py
+++ b/teleop/utils/episode_writer.py
@@ -8,7 +8,7 @@ from .rerun_visualizer import RerunLogger
 from queue import Queue, Empty
 from threading import Thread
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__)
+logger_mp = logging_mp.getLogger(__name__)
 
 class EpisodeWriter():
     def __init__(self, task_dir, task_goal=None, task_desc = None, task_steps = None, frequency=30, image_size=[640, 480], rerun_log = True):
diff --git a/teleop/utils/ipc.py b/teleop/utils/ipc.py
index adae06b..1c35494 100644
--- a/teleop/utils/ipc.py
+++ b/teleop/utils/ipc.py
@@ -3,7 +3,7 @@ import zmq
 import time
 import threading
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__, level=logging_mp.INFO)
+logger_mp = logging_mp.getLogger(__name__)
 
 """
 # Client → Server (Request)
diff --git a/teleop/utils/rerun_visualizer.py b/teleop/utils/rerun_visualizer.py
index cad4c7b..7e5a29a 100644
--- a/teleop/utils/rerun_visualizer.py
+++ b/teleop/utils/rerun_visualizer.py
@@ -190,7 +190,7 @@ if __name__ == "__main__":
     import zipfile
     import os
     import logging_mp
-    logger_mp = logging_mp.get_logger(__name__, level=logging_mp.INFO)
+    logger_mp = logging_mp.getLogger(__name__)
 
     zip_file = "rerun_testdata.zip"
     zip_file_download_url = "https://drive.google.com/file/d/1f5UuFl1z_gaByg_7jDRj1_NxfJZh2evD/view?usp=sharing"
diff --git a/teleop/utils/sim_state_topic.py b/teleop/utils/sim_state_topic.py
index 9ad90a4..dbe1f41 100644
--- a/teleop/utils/sim_state_topic.py
+++ b/teleop/utils/sim_state_topic.py
@@ -14,7 +14,7 @@ from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitial
 from unitree_sdk2py.idl.std_msgs.msg.dds_ import String_
 
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__)
+logger_mp = logging_mp.getLogger(__name__)
 
 
 class SharedMemoryManager: