Nope. But in the game's default setting, D&D is about swords & sorcery fantasy in particular. Sure, you can take it in other directions (e.g. lasers in the DMG), but the lasers are in the game by exception, not by default.nobody claimed they were swords and sorcery
Underdark creatures are a bit of an exception IMO, because many of them are supposed to be weird and alien to surface dwellers. The alien feel of sci-fiesque psionics in a medieval-like swords & sorcery fantasy environment fits well with mind flayers, for instance, who are themselves supposed to be cthuluesque alien B-movie horrors, and the fish-out-of-water element of psionics in swords & sorcery fantasy just enhances that feel. (I don't think I'd call beholders psionic, by the way.)Have you noticed how many core elements of D&D are sci-fi (or rather, science-fantasy) already ? Derros (dero), beholders, mind-flayers and yuan-tis come from pulp litterature.
A spaceship called the Beagle crashed there, introducing sci-fi elements such as power armor to the setting. The key thing to note is that the medieval-tech level sword & sorcery inhabitants of Blackmoor didn't consider this normal, and tried to rationalise what they were seeing away in terms of sword & sorcery logic (i.e. the hi-tech habitation built by the surviving crew around the crashed Beagle became known as a City of the Gods where no-one ever aged).It is also interesting to investigate Blackmoor, that ancestor of D&D settings, that features sci-fi elements as well (the ruins of Blackmoor are remnant of a high-tech civilization destroyed by some disaster).
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