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.

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:

sudo apt-get install -y libgl1 libegl1

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