From b0d751101b603289b604e0da839d55a01615bc8e Mon Sep 17 00:00:00 2001
From: Lizhi Yang <lzyang@caltech.edu>
Date: Sun, 9 Nov 2025 23:32:30 -0800
Subject: [PATCH] add display fps configuration

---
 src/televuer/televuer.py   | 12 +++++++-----
 src/televuer/tv_wrapper.py |  6 +++---
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/televuer/televuer.py b/src/televuer/televuer.py
index 5f9c4f1..b61de0a 100644
--- a/src/televuer/televuer.py
+++ b/src/televuer/televuer.py
@@ -11,7 +11,7 @@ from pathlib import Path
 
 class TeleVuer:
     def __init__(self, use_hand_tracking: bool, pass_through:bool=False, binocular: bool=True, img_shape: tuple=None, 
-                       cert_file=None, key_file=None, webrtc: bool=False, webrtc_url: str=None):
+                       cert_file=None, key_file=None, webrtc: bool=False, webrtc_url: str=None, display_fps: float=60.0):
         """
         TeleVuer class for OpenXR-based XR teleoperate applications.
         This class handles the communication with the Vuer server and manages image and pose data.
@@ -31,8 +31,10 @@ class TeleVuer:
         :param key_file: str, path to the SSL key file.
         :param webrtc: bool, whether to use WebRTC for real-time communication. if False, use ImageBackground.
         :param webrtc_url: str, URL for the WebRTC offer.
+        :param display_fps: float, target frames per second for display updates (default: 60.0).
         """
         self.use_hand_tracking = use_hand_tracking
+        self.display_fps = display_fps
         self.pass_through = pass_through
 
         self.binocular = binocular
@@ -309,7 +311,7 @@ class TeleVuer:
                     to="bgChildren",
                 )
             # 'jpeg' encoding should give you about 30fps with a 16ms wait in-between.
-            await asyncio.sleep(0.016)
+            await asyncio.sleep(1.0 / self.display_fps)
 
     async def main_image_monocular(self, session):
         if self.use_hand_tracking:
@@ -350,7 +352,7 @@ class TeleVuer:
                     ],
                     to="bgChildren",
                 )
-            await asyncio.sleep(0.016)
+            await asyncio.sleep(1.0 / self.display_fps)
 
     async def main_image_binocular_webrtc(self, session):
         if self.use_hand_tracking:
@@ -389,7 +391,7 @@ class TeleVuer:
                     to="bgChildren",
                 )
 
-            await asyncio.sleep(0.016)
+            await asyncio.sleep(1.0 / self.display_fps)
 
     async def main_image_monocular_webrtc(self, session):
         if self.use_hand_tracking:
@@ -427,7 +429,7 @@ class TeleVuer:
                     to="bgChildren",
                 )
 
-            await asyncio.sleep(0.016)
+            await asyncio.sleep(1.0 / self.display_fps)
     # ==================== common data ====================
     @property
     def head_pose(self):
diff --git a/src/televuer/tv_wrapper.py b/src/televuer/tv_wrapper.py
index 4c9c45e..b9376df 100644
--- a/src/televuer/tv_wrapper.py
+++ b/src/televuer/tv_wrapper.py
@@ -193,8 +193,8 @@ class TeleData:
 
 
 class TeleVuerWrapper:
-    def __init__(self, use_hand_tracking: bool, pass_through: bool=False, binocular: bool=True, img_shape: tuple=(480, 1280), 
-                       cert_file = None, key_file = None, webrtc: bool=False, webrtc_url: str=None, 
+    def __init__(self, use_hand_tracking: bool, pass_through: bool=False, binocular: bool=True, img_shape: tuple=(480, 1280),
+                       cert_file = None, key_file = None, webrtc: bool=False, webrtc_url: str=None, display_fps: float=60.0,
                        return_hand_rot_data: bool=False):
         """
         TeleVuerWrapper is a wrapper for the TeleVuer class, which handles XR device's data suit for robot control.
@@ -219,7 +219,7 @@ class TeleVuerWrapper:
         self.use_hand_tracking = use_hand_tracking
         self.return_hand_rot_data = return_hand_rot_data
         self.tvuer = TeleVuer(use_hand_tracking=use_hand_tracking, pass_through=pass_through, binocular=binocular,img_shape=img_shape,
-                              cert_file=cert_file, key_file=key_file, webrtc=webrtc, webrtc_url=webrtc_url)
+                              cert_file=cert_file, key_file=key_file, webrtc=webrtc, webrtc_url=webrtc_url, display_fps=display_fps)
         
     def get_tele_data(self):
         """