From 8bcef7a7ff11b4db1616f4e29a25895bc232cb0c Mon Sep 17 00:00:00 2001 From: silencht Date: Tue, 11 Nov 2025 12:08:09 +0800 Subject: [PATCH] [bump] televuer version and decrease default fps --- teleop/teleop_hand_and_arm.py | 7 ++++--- teleop/televuer | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py index 0272e70..52c747c 100644 --- a/teleop/teleop_hand_and_arm.py +++ b/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: diff --git a/teleop/televuer b/teleop/televuer index d32511f..d6a20e4 160000 --- a/teleop/televuer +++ b/teleop/televuer @@ -1 +1 @@ -Subproject commit d32511fc9058cc277ac7443d903c00332f1be630 +Subproject commit d6a20e483af8f5d0a77fdc307448808e018dd074