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

# Requirements

# System Requirements

## Hardware

| Component | Minimum                      | Recommended             |
| --------- | ---------------------------- | ----------------------- |
| GPU       | NVIDIA RTX 3000+ (8 GB VRAM) | RTX 4070+ (12 GB+ VRAM) |
| CPU       | 8-core Intel / AMD           | 12+ cores               |
| RAM       | 16 GB                        | 32 GB+                  |
| Disk      | 10 GB SSD                    | 25 GB+ SSD              |
| OS        | Ubuntu 22.04, macOS 12.6+    | Ubuntu 24.04            |

> GPU is optional for basic robot control. Required for perception, VLMs, and AI features.

## Tested Configurations

| Config           | GPU                    | CPU       | RAM   | Status          |
| ---------------- | ---------------------- | --------- | ----- | --------------- |
| Dev workstation  | RTX 4090 (24 GB)       | i9-13900K | 64 GB | ✅ Primary dev   |
| Mid-range        | RTX 4070 (12 GB)       | i7-12700  | 32 GB | ✅ Tested        |
| Laptop           | RTX 4060 Mobile (8 GB) | i7-13700H | 16 GB | ✅ Tested        |
| Headless server  | No GPU                 | Xeon      | 32 GB | ✅ Control only  |
| Jetson AGX Orin  | Orin (32 GB shared)    | ARM A78AE | 32 GB | ✅ Tested        |
| Jetson Orin Nano | Orin (8 GB shared)     | ARM A78AE | 8 GB  | 🟧 Experimental |

## Dependency Tiers

Bare `pip install dimos` installs the **core** tier. Extras add capabilities on top.

```bash theme={null}
pip install dimos                                    # Core only
pip install 'dimos[base,unitree]'                    # Unitree robot control (no torch)
pip install 'dimos[base,unitree,perception]'         # + Object detection, VLMs (requires torch)
pip install 'dimos[base,unitree,sim]'                # + MuJoCo simulation
pip install 'dimos[base,unitree,perception,sim]'     # Full stack
pip install 'dimos[base,unitree,drone]'              # + Drone support
pip install 'dimos[base,unitree,manipulation]'       # + Arm control
```

| Extra           | What it adds                                                        | Key packages                                                              | GPU?    |
| --------------- | ------------------------------------------------------------------- | ------------------------------------------------------------------------- | ------- |
| *(core)*        | Transport, streams, CLI, blueprints, occupancy maps                 | dimos-lcm, numpy, scipy, opencv, open3d, numba, Pinocchio, typer, textual | No      |
| `agents`        | LLM agent, speech, tool use                                         | langchain, openai, ollama, faster-whisper                                 | No      |
| `perception`    | Object detection, VLMs, tracking                                    | ultralytics, transformers, moondream                                      | **Yes** |
| `visualization` | Rerun viewer + bridge                                               | rerun-sdk, dimos-viewer                                                   | No      |
| `web`           | FastAPI web interface, audio                                        | fastapi, uvicorn, ffmpeg-python                                           | No      |
| `sim`           | MuJoCo simulation                                                   | mujoco, playground, pygame                                                | No      |
| `unitree`       | Unitree Go2 / G1 support                                            | unitree-webrtc-connect                                                    | No      |
| `unitree-dds`   | Unitree DDS bridge (superset of 'unitree')                          | unitree-sdk2py, cyclonedds                                                | No      |
| `drone`         | DJI Tello / MAVLink drones                                          | pymavlink                                                                 | No      |
| `manipulation`  | Arm planning + control                                              | Drake, piper-sdk, xarm-sdk                                                | No      |
| `mapping`       | GTSAM-backed pose graph optimization (relocalization, cmu\_nav PGO) | gtsam-extended                                                            | No      |
| `cuda`          | GPU acceleration                                                    | cupy, onnxruntime-gpu                                                     | **Yes** |
| `cpu`           | CPU inference backends                                              | onnxruntime                                                               | No      |
| `misc`          | Extra models, embeddings, hardware SDKs                             | edgetam, timm, torchreid, xarm-sdk                                        | Varies  |
| `base`          | Standard stack (agents + web + viz)                                 | langchain, fastapi, rerun-sdk                                             | No      |
| `dds`           | DDS transport (CycloneDDS)                                          | cyclonedds                                                                | No      |

## Headless / Server Environments

If running on a headless Ubuntu server (no display), install OpenGL libraries for visualization dependencies:

```bash theme={null}
sudo apt-get install -y libgl1 libegl1
```

Nix users (`nix develop`) don't need this — the flake provides `libGL`, `libGLU`, and `mesa`.