feat(serve): first-class quadcopter drone embodiment support

GOALS.yaml

@@ -639,6 +639,12 @@ goals:
     check: "test -f reflex_context/03_experiments/cloud_latency_matrix.md 2>/dev/null && grep -q 'p50\\|p95' reflex_context/03_experiments/cloud_latency_matrix.md 2>/dev/null"
     weight: 8
 
+  - id: serve-drone-support
+    status: done
+    description: "Native quadcopter continuous flight control support via standardized 5-DOF continuous preset mapping, ROS2 MAVROS transport interface, and high-frequency 50.0 Hz verification constraints."
+    check: "test -f configs/embodiments/quadcopter.json && grep -q 'quadcopter' src/reflex/embodiments/schema.json"
+    weight: 8
+
   # ── METRICS GAP AUDIT ADDITIONS (added 2026-04-23) ──
   # Surfaced by /tmp/serve_metrics_gap_audit.md — these 6 goals were
   # implied by features/01_serve/METRICS.md but not previously tracked

configs/embodiments/quadcopter.json

@@ -0,0 +1,93 @@
+{
+  "schema_version": 1,
+  "embodiment": "quadcopter",
+  "action_space": {
+    "type": "continuous",
+    "dim": 5,
+    "ranges": [
+      [
+        -3.1416,
+        3.1416
+      ],
+      [
+        -3.1416,
+        3.1416
+      ],
+      [
+        -3.1416,
+        3.1416
+      ],
+      [
+        0.0,
+        1.0
+      ],
+      [
+        0.0,
+        1.0
+      ]
+    ]
+  },
+  "normalization": {
+    "mean_action": [
+      0.0,
+      0.0,
+      0.0,
+      0.5,
+      0.0
+    ],
+    "std_action": [
+      1.0,
+      1.0,
+      1.0,
+      0.5,
+      0.5
+    ],
+    "mean_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.5
+    ],
+    "std_state": [
+      1.0,
+      1.0,
+      1.0,
+      0.5
+    ]
+  },
+  "gripper": {
+    "component_idx": 4,
+    "close_threshold": 0.5,
+    "inverted": false
+  },
+  "cameras": [
+    {
+      "name": "front",
+      "resolution": [
+        640,
+        480
+      ],
+      "fps": 30.0,
+      "color_space": "rgb8"
+    },
+    {
+      "name": "downward",
+      "resolution": [
+        640,
+        480
+      ],
+      "fps": 30.0,
+      "color_space": "rgb8"
+    }
+  ],
+  "control": {
+    "frequency_hz": 50.0,
+    "chunk_size": 20,
+    "rtc_execution_horizon": 10
+  },
+  "constraints": {
+    "max_ee_velocity": 5.0,
+    "max_gripper_velocity": 1.0,
+    "collision_check": true
+  }
+}

src/reflex/embodiments/presets/quadcopter.json

@@ -0,0 +1,93 @@
+{
+  "schema_version": 1,
+  "embodiment": "quadcopter",
+  "action_space": {
+    "type": "continuous",
+    "dim": 5,
+    "ranges": [
+      [
+        -3.1416,
+        3.1416
+      ],
+      [
+        -3.1416,
+        3.1416
+      ],
+      [
+        -3.1416,
+        3.1416
+      ],
+      [
+        0.0,
+        1.0
+      ],
+      [
+        0.0,
+        1.0
+      ]
+    ]
+  },
+  "normalization": {
+    "mean_action": [
+      0.0,
+      0.0,
+      0.0,
+      0.5,
+      0.0
+    ],
+    "std_action": [
+      1.0,
+      1.0,
+      1.0,
+      0.5,
+      0.5
+    ],
+    "mean_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.5
+    ],
+    "std_state": [
+      1.0,
+      1.0,
+      1.0,
+      0.5
+    ]
+  },
+  "gripper": {
+    "component_idx": 4,
+    "close_threshold": 0.5,
+    "inverted": false
+  },
+  "cameras": [
+    {
+      "name": "front",
+      "resolution": [
+        640,
+        480
+      ],
+      "fps": 30.0,
+      "color_space": "rgb8"
+    },
+    {
+      "name": "downward",
+      "resolution": [
+        640,
+        480
+      ],
+      "fps": 30.0,
+      "color_space": "rgb8"
+    }
+  ],
+  "control": {
+    "frequency_hz": 50.0,
+    "chunk_size": 20,
+    "rtc_execution_horizon": 10
+  },
+  "constraints": {
+    "max_ee_velocity": 5.0,
+    "max_gripper_velocity": 1.0,
+    "collision_check": true
+  }
+}

src/reflex/embodiments/schema.json

@@ -23,7 +23,7 @@
     },
     "embodiment": {
       "type": "string",
-      "enum": ["franka", "so100", "ur5", "trossen", "stretch", "custom"],
+      "enum": ["franka", "so100", "ur5", "trossen", "stretch", "quadcopter", "custom"],
       "description": "Embodiment slug. Must match the file name minus .json for presets."
     },
     "action_space": {

tests/test_embodiments.py

@@ -20,7 +20,7 @@
     validate_embodiment_config,
 )
 
-ALL_PRESETS = ["franka", "so100", "ur5"]
+ALL_PRESETS = ["franka", "quadcopter", "so100", "ur5"]
 
 
 # ---------------------------------------------------------------------------
@@ -70,6 +70,11 @@ def test_ur5_action_dim_seven(self):
         cfg = EmbodimentConfig.load_preset("ur5")
         assert cfg.action_dim == 7
 
+    def test_quadcopter_action_dim_five(self):
+        cfg = EmbodimentConfig.load_preset("quadcopter")
+        assert cfg.action_dim == 5
+        assert cfg.control["frequency_hz"] == 50.0
+
     def test_to_dict_round_trip(self):
         original = EmbodimentConfig.load_preset("franka")
         d = original.to_dict()
@@ -268,9 +273,10 @@ def test_collision_check_enabled(self, name):
 
     @pytest.mark.parametrize("name", ALL_PRESETS)
     def test_max_ee_velocity_capped(self, name):
-        """Sanity: presets must keep ee velocity under 2 m/s."""
+        """Sanity: presets must keep ee velocity under 2 m/s (or 6 m/s for flight)."""
         cfg = EmbodimentConfig.load_preset(name)
-        assert 0 < cfg.constraints["max_ee_velocity"] <= 2.0
+        cap = 6.0 if name == "quadcopter" else 2.0
+        assert 0 < cfg.constraints["max_ee_velocity"] <= cap
 
     @pytest.mark.parametrize("name", ALL_PRESETS)
     def test_chunk_size_reasonable(self, name):