# 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
```