File size: 4,209 Bytes
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"cross_compile_targets": [
{
"rust_target_triple": "aarch64-unknown-linux-gnu",
"architecture": "ARM64 (AArch64 NEON)",
"shared_library": "libvivy_core.so",
"target_boards": [
"Radxa Zero 3W (RK3566)",
"Raspberry Pi Zero 2 W (64-bit)",
"NVIDIA Jetson Orin Nano"
],
"min_ram_kb": 128
},
{
"rust_target_triple": "armv7-unknown-linux-gnueabihf",
"architecture": "ARMv7-A Hard-Float",
"shared_library": "libvivy_core.so",
"target_boards": [
"Raspberry Pi Zero 2 W (32-bit)",
"BeagleBone AI / STM32MP1"
],
"min_ram_kb": 128
},
{
"rust_target_triple": "riscv64gc-unknown-linux-gnu",
"architecture": "RISC-V 64-bit (RV64GC)",
"shared_library": "libvivy_core.so",
"target_boards": [
"Milk-V Duo S (SG2000)",
"LicheeRV Nano"
],
"min_ram_kb": 128
},
{
"rust_target_triple": "x86_64-unknown-linux-gnu",
"architecture": "x86_64 Linux POSIX",
"shared_library": "libvivy_core.so",
"target_boards": [
"Intel N100 Mini-SBC",
"Linux Research Laptops",
"Kaggle/Docker Simulation"
],
"min_ram_kb": 128
},
{
"rust_target_triple": "x86_64-pc-windows-gnu",
"architecture": "x86_64 Windows Native",
"shared_library": "vivy_core.dll",
"target_boards": [
"Windows Research Laptops",
"Edge Industrial Mini-PCs"
],
"min_ram_kb": 128
}
],
"supported_morphologies": [
{
"morphology_id": "microduck_biped_14dof",
"name": "Microduck 14-DoF Biped (+1 Mouth Servo)",
"obs_dim": 61,
"action_dim": 14,
"physical_servos": 15,
"control_hz": 50,
"typical_mass_kg": 0.8,
"target_hardware": "Radxa Zero 3W (RK3566 1 GB RAM) + 15x Dynamixel XL330"
},
{
"morphology_id": "mini_quadruped_12dof",
"name": "Agile Mini-Quadruped 12-DoF (3-DoF x 4 Legs)",
"obs_dim": 48,
"action_dim": 12,
"physical_servos": 12,
"control_hz": 50,
"typical_mass_kg": 1.25,
"target_hardware": "Raspberry Pi Zero 2 W (512 MB RAM) / CAN-FD Servo Bus"
},
{
"morphology_id": "embedded_arm_6dof",
"name": "Lightweight 6-DoF Embedded Manipulator Arm",
"obs_dim": 28,
"action_dim": 6,
"physical_servos": 7,
"control_hz": 50,
"typical_mass_kg": 0.65,
"target_hardware": "Milk-V Duo S (RISC-V 512 MB RAM) / UART Bus"
},
{
"morphology_id": "compact_humanoid_23dof",
"name": "Compact 23-DoF Agile Humanoid",
"obs_dim": 88,
"action_dim": 23,
"physical_servos": 23,
"control_hz": 50,
"typical_mass_kg": 2.4,
"target_hardware": "NVIDIA Jetson Orin Nano (4 GB) / RK3588S Edge SBC"
}
],
"embedded_target_boards": [
{
"board_id": "rockchip_rk3566_radxa_zero_3w",
"board_name": "Radxa Zero 3W (Rockchip RK3566 \u2014 Official Microduck Onboard Brain)",
"cpu": "4x ARM Cortex-A55 @ 1.6 GHz (INTRA_THREADS=1)",
"ram_mb": 1024,
"npu_tops": 0.8,
"control_loop_hz": 50,
"tick_budget_ms": 20.0
},
{
"board_id": "rpi_zero_2w_cortex_a53",
"board_name": "Raspberry Pi Zero 2 W (BCM2710A1)",
"cpu": "4x ARM Cortex-A53 @ 1.0 GHz (INTRA_THREADS=1)",
"ram_mb": 512,
"npu_tops": 0.0,
"control_loop_hz": 50,
"tick_budget_ms": 20.0
},
{
"board_id": "nvidia_jetson_orin_nano_4gb",
"board_name": "NVIDIA Jetson Orin Nano Developer Kit (Isaac Edge Tier)",
"cpu": "6x ARM Cortex-A78AE @ 1.5 GHz",
"ram_mb": 4096,
"npu_tops": 20.0,
"control_loop_hz": 50,
"tick_budget_ms": 20.0
},
{
"board_id": "riscv_sg2000_milk_v_duo_s",
"board_name": "Milk-V Duo S (SOPHGO SG2000 RISC-V / ARM Ultra-Light Companion)",
"cpu": "1x C906 RISC-V @ 1.0 GHz",
"ram_mb": 512,
"npu_tops": 0.5,
"control_loop_hz": 50,
"tick_budget_ms": 20.0
}
]
}
|