Class VisionProStreamer

avp_stream/streamer.py:848–5072

class VisionProStreamer:

    def __init__(self, ip=None, record=True, ht_backend="grpc", benchmark_quiet=False, verbose=False, origin="avp", signaling_url=None, relay_only=False):
        """Initialize the VisionProStreamer.

        Parameters
        ----------
        ip : str
            Connection identifier. The format determines the connection mode:
            - IP address (e.g., "192.168.1.100"): Same-network mode via gRPC.
            - Room code (e.g., "ABC-1234"): Cross-network mode via WebRTC signaling.
        record : bool, default True
            If True, every processed hand tracking sample is appended to an internal list retrievable via `get_recording()`.
        ht_backend : {"grpc","webrtc"}, default "grpc"
            Transport used for hand tracking. Use "webrtc" for lower latency after a WebRTC session is established.
            Note: In cross-network mode (room code), hand tracking always uses WebRTC.
        benchmark_quiet : bool, default False
            Suppress benchmark printouts (see latency measurements in `latency_test.py`).
        verbose : bool, default False
            If True, print detailed status messages. If False (default), only critical messages are shown.
        origin : {"avp", "sim"}, default "avp"
            Coordinate frame origin for hand tracking data.
            - "avp": Hand tracking in Vision Pro's native coordinate frame (default).
            - "sim": Hand tracking relative to the simulation's attach_to position.
              Useful when you want hand positions in the same frame as your MuJoCo scene.
        signaling_url : str, optional
            Custom signaling server URL for cross-network mode.
            Default: "wss://visionpro-signaling.<your-subdomain>.workers.dev/ws"

        Notes
        -----
        The connection mode is automatically inferred from the `ip` parameter:
        - If it looks like an IP address (e.g., "192.168.1.100"): Local/same-network mode.
        - If it looks like a room code (e.g., "ABC-1234"): Cross-network mode.
        
        Examples
        --------
        Same-network (IP address)::
        
            streamer = VisionProStreamer(ip="192.168.1.100")
        
        Cross-network (room code)::
        
            streamer = VisionProStreamer(ip="ABC-1234")
        """
        
        # Validate required parameter
        if not ip:
            raise ValueError("Must specify ip= parameter (IP address for local mode, or room code for cross-network mode)")
        
        # Determine connection mode based on ip format
        self._cross_network_mode = _is_room_code(ip)
        self._room_code = ip if self._cross_network_mode else None
        self._signaling_url = signaling_url or "wss://visionpro-signaling.parkyh9492.workers.dev/ws"
        self._signaling_ws = None
        self._signaling_connected = False
        self._peer_ready = False  # Track if VisionOS peer has joined