feat: 把 B 端的 视频/控制 都收口到一个本地 daemon 进程里

Deploy_Tienkung/udp_loopback/README_omnisocket.md

@@ -77,3 +77,34 @@ python3 udp_loopback/omnisocket_xbox_sender.py
 - The original UDP files remain unchanged, so you can switch back by restoring `control_tool: udp_loopback`.
 - OmniSocket keyboard/Xbox mappings are aligned with the cleaned walk-only FSM flow: `ZERO`, `STOP`, and `WALKAMP`.
 - Keyboard sender supports `4/5/6` for clearing `x/y/yaw` speed independently, and `r` still clears all three axes.
+
+## B-side OmniDaemon
+
+The B-side stack now supports a local daemon that owns OmniSocket control receive and manages the video sender worker.
+
+Start the daemon:
+
+```bash
+cd OmniSocketGo
+make b_side_video_sender
+python3 -m pip install -e ./python
+python3 -m omnisocket_b_side.daemon --config config/b_side_omnidaemon.yaml
+```
+
+Or with the helper script:
+
+```bash
+cd OmniSocketGo
+./scripts/start_b_side.sh
+```
+
+With `OMNI_TRANSPORT_BACKEND=daemon` (the default), `OmniSocketFSMController` connects to `/tmp/omnisocket-b-ctrl.sock` and receives raw `ControlPacket` bytes from the daemon instead of creating its own OmniSocket session.
+
+Fallback to the previous direct mode when needed:
+
+```bash
+export OMNI_TRANSPORT_BACKEND=direct
+python3 rl_control_node_sim.py
+```
+
+In simulation / MuJoCo mode, keep `video_sender.enabled: false` in `OmniSocketGo/config/b_side_omnidaemon.yaml` so the daemon only provides the control path and does not require `/dev/video0`.