fix(embodiments): un-hardcode verify script, finish RTC horizon integer migration

configs/embodiments/franka.json

@@ -82,7 +82,7 @@
   "control": {
     "frequency_hz": 20.0,
     "chunk_size": 50,
-    "rtc_execution_horizon": 0.5
+    "rtc_execution_horizon": 25
   },
   "constraints": {
     "max_ee_velocity": 1.0,

configs/embodiments/so100.json

@@ -76,7 +76,7 @@
   "control": {
     "frequency_hz": 15.0,
     "chunk_size": 30,
-    "rtc_execution_horizon": 0.4
+    "rtc_execution_horizon": 12
   },
   "constraints": {
     "max_ee_velocity": 0.5,

configs/embodiments/ur5.json

@@ -82,7 +82,7 @@
   "control": {
     "frequency_hz": 20.0,
     "chunk_size": 50,
-    "rtc_execution_horizon": 0.5
+    "rtc_execution_horizon": 25
   },
   "constraints": {
     "max_ee_velocity": 1.0,

docs/embodiment_schema.md

@@ -1,6 +1,6 @@
 # Embodiment config schema (v1)
 
-`tether serve --embodiment <name>` reads a per-robot config from `configs/embodiments/<name>.json`. Three presets ship out of the box: **franka**, **so100**, **ur5**. You can also point at a custom config with `--custom-embodiment-config <path>`.
+`tether serve --embodiment <name>` loads a per-robot config by name. Four presets ship out of the box: **franka**, **so100**, **ur5**, **quadcopter**. The canonical preset files live inside the package at `src/tether/embodiments/presets/<name>.json`; the copies in `configs/embodiments/` are editable dev fallbacks (checked only if the in-package presets are missing). You can also point at a custom config with `--custom-embodiment-config <path>`.
 
 The authoritative schema is at `src/tether/embodiments/schema.json` (JSON Schema draft-07). This doc is a human-readable mirror — if they drift, the JSON is canonical.
 
@@ -83,10 +83,11 @@ List of camera streams the model expects (1–8 cameras).
 |---|---|---|---|
 | `frequency_hz` | float | 0–1000 (exclusive 0) | Robot control loop rate. |
 | `chunk_size` | int | 1–200 | Actions in a single inference chunk. |
-| `rtc_execution_horizon` | float | 0–5.0 (exclusive 0) | Seconds of chunk to execute before requesting next inference. |
+| `rtc_execution_horizon` | int | 1–`chunk_size` | Integer count of actions to lock during RTC replan. Legacy fractional values (0 < v < 1) auto-migrate to `round(v × chunk_size)` (minimum 1) at load with a one-time deprecation warning; schema v2 will reject them. |
 
-**Cross-field rule (warning, not blocking):**
-- `frequency_hz × rtc_execution_horizon ≥ 1` (else `rtc-horizon-too-short` warning — RTC degenerates if the horizon is shorter than one control step).
+**Cross-field rules (warnings, not blocking):**
+- `rtc_execution_horizon < 1` (else `rtc-horizon-too-short` warning — RTC degenerates below one action)
+- `rtc_execution_horizon > chunk_size` (else `rtc-horizon-exceeds-chunk` warning — can't lock more actions than the chunk holds)
 
 ## `constraints`
 

scripts/emit_embodiment_presets.py

@@ -70,7 +70,9 @@
     "control": {
         "frequency_hz": 20.0,
         "chunk_size": 50,
-        "rtc_execution_horizon": 0.5,
+        # Integer count of actions locked during replan (ADR 2026-04-25 #8 —
+        # the legacy fractional form auto-migrates with a deprecation warning).
+        "rtc_execution_horizon": 25,
     },
     "constraints": {
         "max_ee_velocity": 1.0,
@@ -118,7 +120,9 @@
         # TECHNICAL_PLAN line 1987. Customers with desktop GPU can override.
         "frequency_hz": 15.0,
         "chunk_size": 30,
-        "rtc_execution_horizon": 0.4,
+        # Integer count of actions locked during replan (ADR 2026-04-25 #8 —
+        # the legacy fractional form auto-migrates with a deprecation warning).
+        "rtc_execution_horizon": 12,
     },
     "constraints": {
         "max_ee_velocity": 0.5,
@@ -165,7 +169,9 @@
         # UR native is ~125 Hz; we run at 20 Hz to match our action chunk cadence
         "frequency_hz": 20.0,
         "chunk_size": 50,
-        "rtc_execution_horizon": 0.5,
+        # Integer count of actions locked during replan (ADR 2026-04-25 #8 —
+        # the legacy fractional form auto-migrates with a deprecation warning).
+        "rtc_execution_horizon": 25,
     },
     "constraints": {
         # UR5 rated for 1.0 m/s; conservative cap at 1.2 with collision check on

scripts/verify_embodiment_structure.sh

@@ -2,9 +2,10 @@
 # Sanity check for per-embodiment configs (B.1).
 #
 # Verifies:
-#   - 3 preset JSON files exist at configs/embodiments/{franka,so100,ur5}.json
+#   - the arm preset JSON files exist at configs/embodiments/{franka,so100,ur5}.json
 #   - each parses as valid JSON
-#   - the embodiments package imports + load_preset works for all 3
+#   - the embodiments package imports and every shipped package preset
+#     (whatever list_presets() returns — not a hard-coded list) loads + validates
 #
 # Run from repo root:
 #   bash scripts/verify_embodiment_structure.sh
@@ -41,9 +42,16 @@ from tether.embodiments import EmbodimentConfig, list_presets
 from tether.embodiments.validate import validate_embodiment_config
 
 presets = list_presets()
-expected = ["franka", "so100", "ur5"]
-if presets != expected:
-    print(f"  ✗ list_presets() returned {presets}, expected {expected}")
+# Two checks, not one: a required-minimum SUBSET (catches an accidentally
+# dropped preset file — an equality check broke when quadcopter shipped,
+# but no check at all lets packaging omissions pass silently) plus dynamic
+# validation of everything else that ships. New presets validate
+# automatically in the loop below; add them to REQUIRED when they should
+# be omission-protected too.
+REQUIRED = {"franka", "so100", "ur5", "quadcopter"}
+missing = REQUIRED - set(presets)
+if missing:
+    print(f"  ✗ required package presets missing: {sorted(missing)}")
     sys.exit(1)
 
 for name in presets:

src/tether/embodiments/schema.json

@@ -168,7 +168,7 @@
           "type": "number",
           "minimum": 0,
           "maximum": 1000,
-          "description": "Integer count of actions to lock during RTC replan. Per ADR 2026-04-25-auto-calibration-architecture decision #8. Legacy fractional values (0 < value < 1) auto-migrate to int(value * chunk_size) at load time with a one-time deprecation warning. Schema v2 will reject fractional values."
+          "description": "Integer count of actions to lock during RTC replan. Per ADR 2026-04-25-auto-calibration-architecture decision #8. Legacy fractional values (0 < value < 1) auto-migrate to round(value * chunk_size), minimum 1, at load time with a one-time deprecation warning. Schema v2 will reject fractional values."
         }
       }
     },