feat(serve): first-class quadcopter drone embodiment support#126
Closed
DsThakurRawat wants to merge 1 commit into
Closed
feat(serve): first-class quadcopter drone embodiment support#126DsThakurRawat wants to merge 1 commit into
DsThakurRawat wants to merge 1 commit into
Conversation
…idation constraints
3 tasks
Collaborator
|
Thanks @DsThakurRawat — closing this in favor of the consolidated PR which supersedes both this and #125. You're credited via The main reason this didn't get merged on its own: it stuffs payload-release semantics into the Closing — see the replacement PR for the full picture. |
rylinjames
added a commit
that referenced
this pull request
May 15, 2026
…ease (#132) Adds first-class quadcopter as a fourth shipped embodiment, and the structural schema changes that drones (and future gripper-less robots) need without special-casing every call site. ### Schema changes - `gripper` moved from `required` to optional. Embodiments without a gripper (drones, future fixed-wing, AGVs) simply omit the block. - `constraints.max_gripper_velocity` moved from required to optional — only meaningful when a gripper is present. Cross-field validation now enforces "gripper present implies max_gripper_velocity present" so arm presets can't accidentally drop it. - New optional `payload_release` block with `component_idx` + `trigger_threshold`. Mutually exclusive with `gripper` in practice (an embodiment has one end-effector type). - `quadcopter` added to the embodiment enum. No reformatting of schema.json — only the lines that actually change. ### Runtime - `EmbodimentConfig.gripper` and `EmbodimentConfig.payload_release` are now `default_factory=dict` so loading is order-insensitive. - New `has_gripper` property — callers should use this instead of unconditionally accessing `gripper_idx`. - `gripper_idx` still raises KeyError when no gripper is present (loud failure, not a silent -1 sentinel). - `to_dict()` omits empty optional fields so round-trip output validates against the schema's `additionalProperties: false` constraint. - `SafetyLimits.from_embodiment_config` handles gripper-less embodiments by broadcasting `max_ee_velocity` across all action dims. The existing arm path is unchanged — regression test added. ### Quadcopter preset - 5-DOF action: body rates (roll/pitch/yaw, rad/s) + thrust [0,1] + payload release [0,1]. Action index 4 is the payload trigger. - 10-DOF state: position (3) + orientation quat xyzw (4) + linear velocity (3). Matches PX4/MAVROS Odometry message shape, the canonical drone state. A 4-DOF "orientation only" state is unusable for real drone control (no damping, no drift correction). - 50 Hz control loop (matches PX4 outer-loop rate), 20-action chunks. - `max_ee_velocity: 5.0` (flight speed, ~11 mph) — fits within the existing schema cap of 10 m/s. The schema cap is intentionally NOT raised; if you need faster, override at the runtime layer or split per-embodiment in a future schema version. - Single canonical location at `src/reflex/embodiments/presets/` (not duplicated in `configs/embodiments/`). ### Tests - 200 passing across embodiments + safety + guard tests. - New `TestGripperOptional` class with 8 cases: quadcopter omits gripper, validates clean, gripper_idx raises, arm presets unchanged, payload release idx bounds check, gripper-implies-velocity cross-check, SafetyLimits builds for both drone and arm. - Split parameterised `test_max_ee_velocity_capped` into arm (≤ 2 m/s) and drone (≤ 6 m/s) variants. Supersedes #125 and #126. Co-authored-by: Divyansh Rawat <186957976+DsThakurRawat@users.noreply.github.com> Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Introduces native aerial drone (quadcopter/UAV) support as a first-class embodiment in the Reflex VLA framework. Establishes the continuous 5-DOF flight action space, 50 Hz control loop configuration, and integrates it securely into the core deployment layer.
Type of Change
How Has This Been Tested?
pytest tests/passes locallyreflex doctorsanity checkChecklist