System Requirements
====================

Minimum requirements for **real-time** controls of the robot:

+--------------------+---------------------------------------------+
| **User Computer**                                                |
+--------------------+---------------------------------------------+
| Operating system   | macOS or Linux (real-time kernel optional*) |
+--------------------+---------------------------------------------+
| CPU platform       | x86_64 or arm64                             |
+--------------------+---------------------------------------------+
| CPU performance    | Depends on computation load of user program |
+--------------------+---------------------------------------------+
| **Network**        |                                             |
+--------------------+---------------------------------------------+
| Nodes              | 1 user computer and 1 or more robot(s)      |
+--------------------+---------------------------------------------+
| Connection         | Wired LAN                                   |
+--------------------+---------------------------------------------+
| Latency            | Round trip < 1 ms                           |
+--------------------+---------------------------------------------+
| Bandwidth          | Send/receive both ways > 5.0 MiB/s          |
+--------------------+---------------------------------------------+

\*\ See details in section :doc:`realtime_ubuntu`.

Minimum requirements for **non-real-time** controls of the robot:

+--------------------+---------------------------------------------+
| **User Computer**                                                |
+--------------------+---------------------------------------------+
| Operating system   | All supported OS                            |
+--------------------+---------------------------------------------+
| CPU platform       | x86_64 or arm64                             |
+--------------------+---------------------------------------------+
| CPU performance    | Depends on computation load of user program |
+--------------------+---------------------------------------------+
| **Network**        |                                             |
+--------------------+---------------------------------------------+
| Nodes              | 1 user computer and 1 or more robot(s)      |
+--------------------+---------------------------------------------+
| Connection         | Wired or wireless LAN                       |
+--------------------+---------------------------------------------+
| Latency            | Round trip < 1000 ms                        |
+--------------------+---------------------------------------------+
| Bandwidth          | Send/receive both ways > 1.0 MiB/s          |
+--------------------+---------------------------------------------+