[OhhTuRnz]

What this does

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Title	Label
Fixes #[issue]	🐛 Bug
Adds new robot adapter	🤖 Robot
Adds new dataset	🗃️ Dataset
Adds new environment	🌍 Environment
Optimizes teleop loop	⚡️ Performance
Improves documentation	📝 Docs

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• Added test_something in tests/test_components.py.
• Added new_feature and verified it runs with python -m beavr.teleop.main.
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• Collected data with --robot_name=xarm7 and confirmed it saves in the right format.

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[Copilot]

Pull Request Overview

This PR migrates the package management from Poetry/Conda to uv and hatchling, adds optional keypoint logging functionality for debugging VR hand tracking, introduces FlatBuffers schema definitions for future serialization, updates network configuration with environment-specific settings, and includes various code improvements with TODO markers for future refactoring.

Key Changes

• Build system migration: Switched from poetry-core to hatchling as the build backend and updated documentation to use uv instead of Conda for package/environment management
• Keypoint logging: Added optional JSON-based logging of VR hand keypoints and coordinate frames for debugging purposes (disabled by default)
• Configuration management: Introduced environment-specific YAML configs (dev/staging/prod) for network settings and updated HOST_ADDRESS across the codebase

Reviewed Changes

Copilot reviewed 15 out of 19 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
pyproject.toml	Migrated build backend to hatchling, added flatbuffers dependency with invalid syntax, specified transformers version, added dev dependencies (debugpy, jupyterlab, ipykernel)
poetry.lock	Updated lock file with flatbuffers package and additional greenlet platform wheels
README.md	Replaced Conda installation instructions with uv-based setup, fixed minor typo, added build tools prerequisites
CONTRIBUTING.md	Updated development environment setup to use uv instead of Conda/Poetry, though pip alternative still references uv
.pre-commit-config.yaml	Updated ruff to v0.14.5, pre-commit-hooks to v6.0.0 (version may not exist), added max file size limit
src/beavr/schemas/teleop.fbs	Added new FlatBuffers schema file defining VR input, coordinate frames, and robot state structures (not yet integrated into codebase)
src/beavr/teleop/components/detector/vr/log_keypoints.py	New file implementing KeypointLogger class with auto-save, signal handling, and JSON serialization for debugging
src/beavr/teleop/components/detector/vr/keypoint_transform.py	Integrated optional logging, improved variable naming (transformed_keypoints/coordinate_frame), enhanced docstrings, added cleanup for logger
src/beavr/teleop/components/detector/vr/oculus.py	Added TODO comments about publishing optimization and cleanup improvements
src/beavr/teleop/configs/robots/shared_components.py	Disabled keypoint logging by default in TransformHandPositionCoordsCfg
src/beavr/teleop/configs/constants/network.py	Updated HOST_ADDRESS to 10.0.0.51 with sync warning comment
configs/environment/dev.yaml	Updated HOST_ADDRESS to match network.py constant
configs/environment/staging.yaml	New staging environment configuration file
configs/environment/prod.yaml	New production environment configuration file
src/beavr/teleop/components/operator/robots/xarm7_operator.py	Added TODO comments about removing topic literals and using constants
src/beavr/teleop/components/operator/robots/leap_operator.py	Added incorrect TODO suggesting subscriber removal, added whitespace formatting
src/beavr/teleop/components/interface/robots/xarm7_robot.py	Added TODO about external adapter data updates
src/beavr/teleop/components/interface/robots/leap_robot.py	Added TODO about external adapter data updates

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[Copilot]

The "Alternatively, using pip" section still requires uv to install Python and create the virtual environment (lines 120, 123). This is contradictory - if someone wants to use pip as an alternative to uv, they likely don't have uv installed. Consider providing instructions for using pip without uv, such as using system Python or pyenv to manage Python versions.

[OhhTuRnz]

@copilot open a new pull request to apply changes based on this feedback

[Copilot]

The hardcoded IP address "10.0.0.51" has been changed in both network.py and dev.yaml, but the comment on line 6 notes these should be kept in sync. This creates a maintenance burden where developers must manually ensure consistency between the constant file and the environment config. Consider loading HOST_ADDRESS from the environment configuration at runtime instead of hardcoding it in both places, or add validation to detect when they're out of sync.

[Copilot]

Pull Request Overview

Copilot reviewed 15 out of 19 changed files in this pull request and generated 3 comments.

Comments suppressed due to low confidence (1)

src/beavr/teleop/components/detector/vr/keypoint_transform.py:282

• The code publishes the same data twice to different ports (lines 265-271 and 277-282). This redundancy should be addressed by migrating consumers to use a single publication point to reduce network overhead and maintain a single source of truth.

            # This is redundant
            # TODO: Remove this and modify LEAPoperator to use coords topic
            self.publisher_manager.publish(
                host=self.host,
                port=self.keypoint_transform_pub_port,
                topic=self.frame_topic,
                data=data,
            )

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[Copilot]

Pull Request Overview

Copilot reviewed 15 out of 19 changed files in this pull request and generated 3 comments.

Comments suppressed due to low confidence (1)

src/beavr/teleop/components/operator/robots/leap_operator.py:66

• The TODO states this subscriber is not used, but it's actually required by the abstract base class Operator (see operator_base.py:31-32). While LeapHandOperator doesn't directly use it, removing it would break the interface contract. If you want to remove it:

1. Update the Operator abstract base class to make this property optional
2. Update the cleanup() method in operator_base.py to handle cases where the property is None
3. Consider whether other operators (like XArmOperator, TemplateArmOperator) that DO use this subscriber would be affected

        # TODO: This subscriber is not used, remove it.
        self._transformed_arm_keypoint_subscriber = ZMQSubscriber(
            host=self._host,
            port=self._port,
            topic=frame_topic,
            context=self._context,
            message_type=InputFrame,
        )

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