更新时间：2026-07-13 GMT+08:00
机器人通用配置典型片段
ROS2机器人（Jaka Mini2）
runtime:
publish_hz: 20.0
max_duration_s: 0.0
dry_run: false
action_response_timeout_s: 5.0
max_enqueue_actions_per_chunk: -1
enable_action_chunk_alignment: true
heartbeat:
enabled: true
interval_ms: 5000
status: "ONLINE"
mode: "AUTO"
device_to_r2c:
image_encoding: jpeg
mappings:
- target_key: "images.color.wrist"
source_path: "streams.wrist"
transforms:
- ros_compressed_image_to_ndarray
- bgr_to_rgb
- ndarray_to_jpeg LeRobot机器人（SO101）
runtime:
publish_hz: 10.0
publish_trigger_threshold: 10
fusion_strategy: "weighted_average"
fusion_window_size: 10
heartbeat:
enabled: true
interval_ms: 5000
status: "ONLINE"
mode: "AUTO"
device_to_r2c:
image_encoding: jpeg
mappings:
- target_key: "images.color.front"
source_path: "front"
transforms:
- rgb_to_bgr
- ndarray_to_webp:
quality: 70 Flexiv SDK直驱
runtime:
publish_hz: 20.0
dry_run: false
action_response_timeout_s: 5.0
keyboard_control:
enabled: true
hardware:
type: "flexiv"
flexiv_config:
robot_sn: "Rizon4-XXXXXX"
cameras:
wrist:
source: 0
width: 640
height: 480
fps: 30
device_to_r2c:
image_encoding: jpeg
mappings:
- target_key: "images.color.wrist"
source_path: "wrist"
transforms:
- ndarray_to_webp:
quality: 70 Dummy测试
runtime:
publish_hz: 10.0
dry_run: true
max_duration_s: 60.0
hardware:
type: "dummy"
dummy_config:
image_width: 640
image_height: 480
device_to_r2c:
image_encoding: jpeg
mappings:
- target_key: "images.color.wrist"
source_path: "wrist"
transforms: ndarray_to_jpeg 父主题： R2C SDK已支持机器人的通用配置
