> ## Documentation Index
> Fetch the complete documentation index at: https://docs.tryreflex.ai/llms.txt
> Use this file to discover all available pages before exploring further.

# Hardware configs

> Built-in robot configurations.

rfx ships ready-to-use configs for the most common targets.

```python theme={null}
rfx.SO101_CONFIG   # 6 DOF arm, 50 Hz
rfx.GO2_CONFIG     # 12 DOF quadruped, 200 Hz
rfx.G1_CONFIG      # 29 DOF humanoid, 50 Hz
```

## SO-101

```python theme={null}
rfx.SO101_CONFIG.joints
# ["shoulder_pan", "shoulder_lift", "elbow",
#  "wrist_pitch",  "wrist_roll",    "gripper"]

rfx.SO101_CONFIG.control_freq_hz  # 50
```

## Go2

12-DOF quadruped. Transport over Ethernet via Zenoh. Default control rate
200 Hz.

## G1

29-DOF humanoid. Transport over Ethernet via Zenoh. Default control rate
50 Hz. In progress.

## Custom configs

Any config is a YAML file declaring joints, sensors, rate, and transport.
Load directly:

```python theme={null}
from rfx.robot import RobotConfig

config = RobotConfig.from_yaml("path/to/robot.yaml")
robot = rfx.RealRobot(config)
```

Or override only the parts you need at runtime via the CLI:

```bash theme={null}
rfx deploy runs/my-policy --robot so101 \
  --port /dev/ttyACM0 \
  --rate-hz 100
```