重构xr teleop

scripts/environments/teleoperation/xr_teleop/streaming.py

@@ -0,0 +1,65 @@
+# SPDX-FileCopyrightText: Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Sim-to-VR H264 stereo streaming manager."""
+
+import logging
+
+logger = logging.getLogger(__name__)
+
+
+class StreamingManager:
+    """Manages stereo camera → H264 → TCP streaming to VR headset.
+
+    Wraps SimVideoStreamer with graceful error handling and auto-disable on failure.
+    """
+
+    def __init__(self, host: str, port: int, scene, bitrate: int = 20_000_000):
+        self._streamer = None
+        self._enabled = False
+
+        if "vr_left_eye" not in scene.sensors:
+            logger.warning("[Stream] vr_left_eye camera not found. Streaming disabled.")
+            return
+
+        try:
+            from mindbot.utils.sim_video_streamer import SimVideoStreamer
+            cam = scene["vr_left_eye"]
+            self._streamer = SimVideoStreamer(
+                host=host, port=port,
+                width=cam.cfg.width, height=cam.cfg.height,
+                fps=30, bitrate=bitrate,
+            )
+            if self._streamer.connect():
+                self._enabled = True
+                print(f"[INFO] Sim stereo streaming to {host}:{port} "
+                      f"({cam.cfg.width * 2}x{cam.cfg.height} SBS @ 30fps)")
+            else:
+                logger.error("[Stream] Failed to connect. Streaming disabled.")
+                self._streamer = None
+        except ImportError:
+            logger.error("[Stream] mindbot.utils.sim_video_streamer not found. pip install av?")
+        except Exception as e:
+            logger.error(f"[Stream] Init failed: {e}")
+
+    @property
+    def enabled(self) -> bool:
+        return self._enabled
+
+    def send(self, scene, frame_count: int = 0) -> None:
+        """Send one stereo frame from scene cameras. Auto-disables on failure."""
+        if not self._enabled:
+            return
+        try:
+            left_rgb = scene["vr_left_eye"].data.output["rgb"][0].cpu().numpy()
+            right_rgb = scene["vr_right_eye"].data.output["rgb"][0].cpu().numpy()
+            if not self._streamer.send_frame(left_rgb, right_rgb):
+                logger.warning("[Stream] Connection lost. Disabling streaming.")
+                self._enabled = False
+        except Exception as e:
+            if frame_count % 300 == 0:
+                logger.warning(f"[Stream] Frame error: {e}")
+
+    def close(self):
+        if self._streamer is not None:
+            self._streamer.close()