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

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

+--------------------+------------------------------------------------+
| **Workstation PC**                                                  |
+--------------------+------------------------------------------------+
| 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 workstation PC and 1 or more robot server(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:

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