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rtp.js is a RTP stack written in TypeScript. It's not intended to be an audio/video encoder/decoder. Honestly I don't think we are gonna do that. I will leave the feature request open just in case.
for example VP8 Packet, VP9 Packet, AV1 Packet, H264 Packet, H265 Packet, ..., implementations of the packets exist in "pion/rtp" go lang package