mediapipe>=0.10.30 breaks telemoma due to unpinned dependency

[han-xudong]

Problem description

The current setup.py does not pin the version of mediapipe, which causes pip to install the latest version by default. However, mediapipe versions >=0.10.30 remove or refactor several Python APIs and internal modules that telemoma depends on, leading to runtime errors.

Steps to reproduce

pip install telemoma
python -c "from telemoma.human_interface.teleop_policy import TeleopPolicy"

After installation, importing TeleopPolicy results in errors as:

Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "xxx/telemoma/telemoma/human_interface/teleop_policy.py", line 2, in <module>
    from telemoma.human_interface.vision import VisionTeleopPolicy
  File "xxx/telemoma/telemoma/human_interface/vision.py", line 1, in <module>
    from mediapipe import solutions
ImportError: cannot import name 'solutions' from 'mediapipe' (xxx/mediapipe/__init__.py)

Expected behavior

telemoma should install and run correctly with a compatible mediapipe version.

Root cause

Starting from mediapipe 0.10.30, several Python APIs and internal modules used by telemoma were removed or reorganized.
The current codebase has been verified to work correctly with mediapipe 0.10.21.

Proposed solution

Pin mediapipe to version 0.10.21 in setup.py to ensure compatibility and reproducibility.