{
  "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
    }
  ]
}