# 支持的机器人概述
R2C SDK通过RobotFactory统一创建和管理机器人硬件适配器。所有适配器实现IRobotHardwareAdapter接口（connect / disconnect / get_observation / send_action），通过YAML配置文件驱动。
#### 支持的机器人总表
[表1]列出了R2C SDK当前支持的机器人及其相关配置信息，包括各类机器人的名称、硬件类型、适配器类、关键依赖、配置样例文件路径以及参考章节。
 表1支持的机器人相关配置信息 
| 机器人                 | 硬件类型       | 适配器类                      | 关键依赖                            | 配置样例                                    | 参考章节                                                                                             |
|:---|:---|:---|:---|:---|:---|
| **Dummy仿真模拟器**      | dummy      | DummyRobotHardwareAdapter | 无                               | config/robot_dummy_config.yaml          | [Dummy仿真](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0030.html)         |
| **LeRobot (SO101)** | lerobot    | LeRobotHardwareAdapter    | lerobot, draccus                | config/robot_so101_lerobot_config.yaml  | [LeRobot (SO101)](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0031.html) |
| **UR5e RTDE直驱**     | ur5e_rtde  | UR5eHardwareAdapter       | ur-rtde, pyserial, pyrealsense2 | config/robot_ur5e_config.yaml           | [UR5e](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0032.html)            |
| **Flexiv Rizon4**   | flexiv     | FlexivHardwareAdapter     | Flexiv RDK                      | config/robot_flexiv_config.yaml         | [Flexiv Rizon4](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0033.html)   |
| **Jaka Mini2**      | ros2       | Ros2HardwareAdapter       | rclpy (ROS2)                    | config/robot_mini2_ros_config.yaml      | [Jaka Mini2](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0034.html)      |
| **星海图GALAXEA R1**   | zenoh_ros1 | ZenohRos1HardwareAdapter  | zenoh-python                    | config/robot_r1_zenoh_ros1_config.yaml  | [星海图GALAXEA R1](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0035.html)   |
| **五八智能 Q25**        | q25_ros2   | Q25HardwareAdapter        | 无                               | config/robot_q25_config.yaml            | [五八智能Q25](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0036.html)         |
| **华沿 S05**          | s05        | S05HardwareAdapter        | pyrealsense2, CPS SDK           | config/robot_s05_config.yaml            | [华沿S05](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0037.html)           |
| **优艾隙锋**            | xifeng     | XifengHardwareAdapter     | numpy (mock) / pypilot (real)   | config/robot_xifeng_config.yaml         | [优艾隙锋](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0041.html)            |
| **拓斯达X5**           | tsd        | TSDHardwareAdapter        | pypilot                         | config/robot_tsd_config.yaml            | [拓斯达X5](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0038.html)           |
| **千寻Moz1**          | moz1       | Moz1HardwareAdapter       | mozrobotSDK                     | config/robot_moz1_config.yaml           | [千寻Moz1](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0039.html)          |
| **星海图A1Z**          | lerobot    | LeRobotHardwareAdapter    | lerobot, draccus                | config/robot_a1z_lerobot_v2_config.yaml | [星海图A1Z](https://support.huaweicloud.com/sdkreference-cloudrobo/cloudrobo_03_0042.html)          |