diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 96f888be3c..01b23c8606 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -9,7 +9,7 @@ repos:
       - id: remove-crlf
       - id: insert-license
         files: \.py$
-        exclude: __init__\.py$
+        exclude: (__init__\.py$)|(dimos/rxpy_backpressure/)
         args:
           # use if you want to remove licences from all files
           # (for globally changing wording or something)
diff --git a/MANIFEST.in b/MANIFEST.in
new file mode 100644
index 0000000000..36af004287
--- /dev/null
+++ b/MANIFEST.in
@@ -0,0 +1,20 @@
+global-exclude *.pyc
+global-exclude __pycache__
+global-exclude .DS_Store
+
+# Exclude test directories
+prune tests
+
+# Exclude web development directories
+recursive-exclude dimos/web/command-center-extension *
+recursive-exclude dimos/web/websocket_vis/node_modules *
+
+# Exclude development files
+exclude .gitignore
+exclude .gitattributes
+prune .git
+prune .github
+prune .mypy_cache
+prune .pytest_cache
+prune .ruff_cache
+prune .vscode
diff --git a/README_installation.md b/README_installation.md
new file mode 100644
index 0000000000..ccdcb1a550
--- /dev/null
+++ b/README_installation.md
@@ -0,0 +1,136 @@
+# DimOS
+
+## Installation
+
+Clone the repo:
+
+```bash
+git clone -b main --single-branch git@github.com:dimensionalOS/dimos.git
+cd dimos
+```
+
+### System dependencies
+
+Tested on Ubuntu 22.04/24.04.
+
+```bash
+sudo apt update
+sudo apt install git-lfs python3-venv python3-pyaudio portaudio19-dev libturbojpeg0-dev
+```
+
+### Python dependencies
+
+Install `uv` by [following their instructions](https://docs.astral.sh/uv/getting-started/installation/) or just run:
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
+```
+
+Install Python dependencies:
+
+```bash
+uv sync
+```
+
+Depending on what you want to test you might want to install more optional dependencies as well (recommended):
+
+```bash
+uv sync --extra dev --extra cpu --extra sim --extra drone
+```
+
+### Install Foxglove Studio (robot visualization and control)
+
+> **Note:** This will be obsolete once we finish our migration to open source [Rerun](https://rerun.io/).
+
+Download and install [Foxglove Studio](https://foxglove.dev/download):
+
+```bash
+wget https://get.foxglove.dev/desktop/latest/foxglove-studio-latest-linux-amd64.deb
+sudo apt install ./foxglove-studio-*.deb
+```
+
+[Register an account](https://app.foxglove.dev/signup) to use it.
+
+Open Foxglove Studio:
+
+```bash
+foxglove-studio
+```
+
+To connect and load our dashboard:
+
+1. Click on "Open connection"
+2. In the popup window, leave the WebSocket URL as `ws://localhost:8765` and click "Open"
+3. In the top right, click on the "Default" dropdown, then "Import from file..."
+4. Navigate to the `dimos` repo and select `assets/foxglove_dashboards/unitree.json`
+
+### Test the install
+
+Run the Python tests:
+
+```bash
+uv run pytest dimos
+```
+
+They should all pass in about 3 minutes.
+
+### Test a robot replay
+
+Run the system by playing back recorded data from a robot (the replay data is automatically downloaded via Git LFS):
+
+```bash
+uv run dimos --replay run unitree-go2-basic
+```
+
+You can visualize the robot data in Foxglove Studio.
+
+### Run a simulation
+
+```bash
+uv run dimos --simulation run unitree-go2-basic
+```
+
+This will open a MuJoCo simulation window. You can also visualize data in Foxglove.
+
+If you want to also teleoperate the simulated robot run:
+
+```bash
+uv run dimos --simulation run unitree-go2-basic --extra-module keyboard_teleop
+```
+
+This will also open a Keyboard Teleop window. Focus on the window and use WASD to control the robot.
+
+### Command center
+
+You can also control the robot from the `command-center` extension to Foxglove.
+
+First, pull the LFS file:
+
+```bash
+git lfs pull --include="assets/dimensional.command-center-extension-0.0.1.foxe"
+```
+
+To install it, drag that file over the Foxglove Studio window. The extension will be installed automatically. Then, click on the "Add panel" icon on the top right and add "command-center".
+
+You can now click on the map to give it a travel goal, or click on "Start Keyboard Control" to teleoperate it.
+
+### Using `dimos` in your code
+
+If you want to use dimos in your own project (not the cloned repo), you can install it as a dependency:
+
+```bash
+uv add dimos
+```
+
+Note, a few dependencies do not have PyPI packages and need to be installed from their Git repositories. These are only required for specific features:
+
+- **CLIP** and **detectron2**: Required for the Detic open-vocabulary object detector
+- **contact_graspnet_pytorch**: Required for robotic grasp prediction
+
+You can install them with:
+
+```bash
+uv add git+https://github.com/openai/CLIP.git
+uv add git+https://github.com/dimensionalOS/contact_graspnet_pytorch.git
+uv add git+https://github.com/facebookresearch/detectron2.git
+```
diff --git a/dimos/core/__init__.py b/dimos/core/__init__.py
index e8c4364a21..25d4f7a6e5 100644
--- a/dimos/core/__init__.py
+++ b/dimos/core/__init__.py
@@ -94,22 +94,21 @@ def deploy(  # type: ignore[no-untyped-def]
         *args,
         **kwargs,
     ):
-        console = Console()
-        with console.status(f"deploying [green]{actor_class.__name__}\n", spinner="arc"):
-            actor = dask_client.submit(  # type: ignore[no-untyped-call]
-                actor_class,
-                *args,
-                **kwargs,
-                actor=True,
-            ).result()
+        logger.info("Deploying module.", module=actor_class.__name__)
+        actor = dask_client.submit(  # type: ignore[no-untyped-call]
+            actor_class,
+            *args,
+            **kwargs,
+            actor=True,
+        ).result()
 
-            worker = actor.set_ref(actor).result()
-            logger.info("Deployed module.", module=actor._cls.__name__, worker_id=worker)
+        worker = actor.set_ref(actor).result()
+        logger.info("Deployed module.", module=actor._cls.__name__, worker_id=worker)
 
-            # Register actor deployment in shared memory
-            ActorRegistry.update(str(actor), str(worker))
+        # Register actor deployment in shared memory
+        ActorRegistry.update(str(actor), str(worker))
 
-            return RPCClient(actor, actor_class)
+        return RPCClient(actor, actor_class)
 
     def check_worker_memory() -> None:
         """Check memory usage of all workers."""
diff --git a/dimos/protocol/rpc/spec.py b/dimos/protocol/rpc/spec.py
index 7184cec406..e72daef0a8 100644
--- a/dimos/protocol/rpc/spec.py
+++ b/dimos/protocol/rpc/spec.py
@@ -46,6 +46,8 @@ def call(self, name: str, arguments: Args, cb: Callable | None) -> Callable[[],
     def call_sync(
         self, name: str, arguments: Args, rpc_timeout: float | None = 120.0
     ) -> tuple[Any, Callable[[], None]]:
+        if name == "start":
+            rpc_timeout = 1200.0  # starting modules can take longer
         event = threading.Event()
 
         def receive_value(val) -> None:  # type: ignore[no-untyped-def]
diff --git a/dimos/rxpy_backpressure/LICENSE.txt b/dimos/rxpy_backpressure/LICENSE.txt
new file mode 100644
index 0000000000..8e1d704dc7
--- /dev/null
+++ b/dimos/rxpy_backpressure/LICENSE.txt
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019 Mark Haynes
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/dimos/rxpy_backpressure/__init__.py b/dimos/rxpy_backpressure/__init__.py
new file mode 100644
index 0000000000..ff3b1f37c0
--- /dev/null
+++ b/dimos/rxpy_backpressure/__init__.py
@@ -0,0 +1,3 @@
+from dimos.rxpy_backpressure.backpressure import BackPressure
+
+__all__ = [BackPressure]
diff --git a/dimos/rxpy_backpressure/backpressure.py b/dimos/rxpy_backpressure/backpressure.py
new file mode 100644
index 0000000000..bf84fa95bd
--- /dev/null
+++ b/dimos/rxpy_backpressure/backpressure.py
@@ -0,0 +1,29 @@
+# Copyright (c) rxpy_backpressure
+from dimos.rxpy_backpressure.drop import (
+    wrap_observer_with_buffer_strategy,
+    wrap_observer_with_drop_strategy,
+)
+from dimos.rxpy_backpressure.latest import wrap_observer_with_latest_strategy
+
+
+class BackPressure:
+    """
+    Latest strategy will remember the next most recent message to process and will call the observer with it when
+    the observer has finished processing its current message.
+    """
+
+    LATEST = wrap_observer_with_latest_strategy
+
+    """
+        Drop strategy accepts a cache size, the strategy will remember the most recent messages and remove older
+        messages from the cache. The strategy guarantees that the oldest messages in the cache are passed to the
+        observer first.
+        :param cache_size: int = 10 is default
+    """
+    DROP = wrap_observer_with_drop_strategy
+
+    """
+        Buffer strategy has a unbounded cache and will pass all messages to its consumer in the order it received them
+        beware of Memory leaks due to a build up of messages.
+    """
+    BUFFER = wrap_observer_with_buffer_strategy
diff --git a/dimos/rxpy_backpressure/drop.py b/dimos/rxpy_backpressure/drop.py
new file mode 100644
index 0000000000..6273042f42
--- /dev/null
+++ b/dimos/rxpy_backpressure/drop.py
@@ -0,0 +1,67 @@
+# Copyright (c) rxpy_backpressure
+from typing import Any
+
+from dimos.rxpy_backpressure.function_runner import thread_function_runner
+from dimos.rxpy_backpressure.locks import BooleanLock, Lock
+from dimos.rxpy_backpressure.observer import Observer
+
+
+class DropBackPressureStrategy(Observer):
+    def __init__(self, wrapped_observer: Observer, cache_size: int):
+        self.wrapped_observer: Observer = wrapped_observer
+        self.__function_runner = thread_function_runner
+        self.__lock: Lock = BooleanLock()
+        self.__cache_size: int | None = cache_size
+        self.__message_cache: list = []
+        self.__error_cache: list = []
+
+    def on_next(self, message):
+        if self.__lock.is_locked():
+            self.__update_cache(self.__message_cache, message)
+        else:
+            self.__lock.lock()
+            self.__function_runner(self, self.__on_next, message)
+
+    @staticmethod
+    def __on_next(self, message: any):
+        self.wrapped_observer.on_next(message)
+        if len(self.__message_cache) > 0:
+            self.__function_runner(self, self.__on_next, self.__message_cache.pop(0))
+        else:
+            self.__lock.unlock()
+
+    def on_error(self, error: any):
+        if self.__lock.is_locked():
+            self.__update_cache(self.__error_cache, error)
+        else:
+            self.__lock.lock()
+            self.__function_runner(self, self.__on_error, error)
+
+    @staticmethod
+    def __on_error(self, error: any):
+        self.wrapped_observer.on_error(error)
+        if len(self.__error_cache) > 0:
+            self.__function_runner(self, self.__on_error, self.__error_cache.pop(0))
+        else:
+            self.__lock.unlock()
+
+    def __update_cache(self, cache: list, item: Any):
+        if self.__cache_size is None or len(cache) < self.__cache_size:
+            cache.append(item)
+        else:
+            cache.pop(0)
+            cache.append(item)
+
+    def on_completed(self):
+        self.wrapped_observer.on_completed()
+
+    def is_locked(self):
+        return self.__lock.is_locked()
+
+
+def wrap_observer_with_drop_strategy(observer: Observer, cache_size: int = 10) -> Observer:
+    return DropBackPressureStrategy(observer, cache_size=cache_size)
+
+
+def wrap_observer_with_buffer_strategy(observer: Observer) -> Observer:
+    return DropBackPressureStrategy(observer, cache_size=None)
diff --git a/dimos/rxpy_backpressure/function_runner.py b/dimos/rxpy_backpressure/function_runner.py
new file mode 100644
index 0000000000..7779016d41
--- /dev/null
+++ b/dimos/rxpy_backpressure/function_runner.py
@@ -0,0 +1,6 @@
+# Copyright (c) rxpy_backpressure
+from threading import Thread
+
+
+def thread_function_runner(self, func, message):
+    Thread(target=func, args=(self, message)).start()
diff --git a/dimos/rxpy_backpressure/latest.py b/dimos/rxpy_backpressure/latest.py
new file mode 100644
index 0000000000..73a4ebc8d9
--- /dev/null
+++ b/dimos/rxpy_backpressure/latest.py
@@ -0,0 +1,57 @@
+# Copyright (c) rxpy_backpressure
+from typing import Optional
+
+from dimos.rxpy_backpressure.function_runner import thread_function_runner
+from dimos.rxpy_backpressure.locks import BooleanLock, Lock
+from dimos.rxpy_backpressure.observer import Observer
+
+
+class LatestBackPressureStrategy(Observer):
+    def __init__(self, wrapped_observer: Observer):
+        self.wrapped_observer: Observer = wrapped_observer
+        self.__function_runner = thread_function_runner
+        self.__lock: Lock = BooleanLock()
+        self.__message_cache: Optional = None
+        self.__error_cache: Optional = None
+
+    def on_next(self, message):
+        if self.__lock.is_locked():
+            self.__message_cache = message
+        else:
+            self.__lock.lock()
+            self.__function_runner(self, self.__on_next, message)
+
+    @staticmethod
+    def __on_next(self, message: any):
+        self.wrapped_observer.on_next(message)
+        if self.__message_cache is not None:
+            self.__function_runner(self, self.__on_next, self.__message_cache)
+            self.__message_cache = None
+        else:
+            self.__lock.unlock()
+
+    def on_error(self, error: any):
+        if self.__lock.is_locked():
+            self.__error_cache = error
+        else:
+            self.__lock.lock()
+            self.__function_runner(self, self.__on_error, error)
+
+    @staticmethod
+    def __on_error(self, error: any):
+        self.wrapped_observer.on_error(error)
+        if self.__error_cache:
+            self.__function_runner(self, self.__on_error, self.__error_cache)
+            self.__error_cache = None
+        else:
+            self.__lock.unlock()
+
+    def on_completed(self):
+        self.wrapped_observer.on_completed()
+
+    def is_locked(self):
+        return self.__lock.is_locked()
+
+
+def wrap_observer_with_latest_strategy(observer: Observer) -> Observer:
+    return LatestBackPressureStrategy(observer)
diff --git a/dimos/rxpy_backpressure/locks.py b/dimos/rxpy_backpressure/locks.py
new file mode 100644
index 0000000000..62c58c25b2
--- /dev/null
+++ b/dimos/rxpy_backpressure/locks.py
@@ -0,0 +1,30 @@
+# Copyright (c) rxpy_backpressure
+from abc import abstractmethod
+
+
+class Lock:
+    @abstractmethod
+    def is_locked(self) -> bool:
+        return NotImplemented
+
+    @abstractmethod
+    def unlock(self):
+        return NotImplemented
+
+    @abstractmethod
+    def lock(self):
+        return NotImplemented
+
+
+class BooleanLock(Lock):
+    def __init__(self):
+        self.locked: bool = False
+
+    def is_locked(self) -> bool:
+        return self.locked
+
+    def unlock(self):
+        self.locked = False
+
+    def lock(self):
+        self.locked = True
diff --git a/dimos/rxpy_backpressure/observer.py b/dimos/rxpy_backpressure/observer.py
new file mode 100644
index 0000000000..7cf023c04f
--- /dev/null
+++ b/dimos/rxpy_backpressure/observer.py
@@ -0,0 +1,18 @@
+# Copyright (c) rxpy_backpressure
+from abc import ABCMeta, abstractmethod
+
+
+class Observer:
+    __metaclass__ = ABCMeta
+
+    @abstractmethod
+    def on_next(self, value):
+        return NotImplemented
+
+    @abstractmethod
+    def on_error(self, error):
+        return NotImplemented
+
+    @abstractmethod
+    def on_completed(self):
+        return NotImplemented
diff --git a/dimos/simulation/mujoco/model.py b/dimos/simulation/mujoco/model.py
index a8c7857b2c..da8c338f5e 100644
--- a/dimos/simulation/mujoco/model.py
+++ b/dimos/simulation/mujoco/model.py
@@ -28,17 +28,21 @@
 from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid
 from dimos.simulation.mujoco.input_controller import InputController
 from dimos.simulation.mujoco.policy import G1OnnxController, Go1OnnxController, OnnxController
+from dimos.utils.data import get_data
 
-DATA_DIR = epath.Path(__file__).parent / "../../../data/mujoco_sim"
+
+def _get_data_dir() -> epath.Path:
+    return epath.Path(str(get_data("mujoco_sim")))
 
 
 def get_assets() -> dict[str, bytes]:
+    data_dir = _get_data_dir()
     # Assets used from https://sketchfab.com/3d-models/mersus-office-8714be387bcd406898b2615f7dae3a47
     # Created by Ryan Cassidy and Coleman Costello
     assets: dict[str, bytes] = {}
-    mjx_env.update_assets(assets, DATA_DIR, "*.xml")
-    mjx_env.update_assets(assets, DATA_DIR / "scene_office1/textures", "*.png")
-    mjx_env.update_assets(assets, DATA_DIR / "scene_office1/office_split", "*.obj")
+    mjx_env.update_assets(assets, data_dir, "*.xml")
+    mjx_env.update_assets(assets, data_dir / "scene_office1/textures", "*.png")
+    mjx_env.update_assets(assets, data_dir / "scene_office1/office_split", "*.obj")
     mjx_env.update_assets(assets, mjx_env.MENAGERIE_PATH / "unitree_go1" / "assets")
     mjx_env.update_assets(assets, mjx_env.MENAGERIE_PATH / "unitree_g1" / "assets")
     return assets
@@ -66,7 +70,7 @@ def load_model(
     model.opt.timestep = sim_dt
 
     params = {
-        "policy_path": (DATA_DIR / f"{robot}_policy.onnx").as_posix(),
+        "policy_path": (_get_data_dir() / f"{robot}_policy.onnx").as_posix(),
         "default_angles": np.array(model.keyframe("home").qpos[7:]),
         "n_substeps": n_substeps,
         "action_scale": 0.5,
@@ -111,6 +115,6 @@ def load_scene_xml(config: GlobalConfig) -> str:
         return generate_mujoco_scene(OccupancyGrid.from_path(path))
 
     mujoco_room = config.mujoco_room or "office1"
-    xml_file = (DATA_DIR / f"scene_{mujoco_room}.xml").as_posix()
+    xml_file = (_get_data_dir() / f"scene_{mujoco_room}.xml").as_posix()
     with open(xml_file) as f:
         return f.read()
diff --git a/dimos/stream/audio/node_volume_monitor.py b/dimos/stream/audio/node_volume_monitor.py
index 8c485f9376..001c5762af 100644
--- a/dimos/stream/audio/node_volume_monitor.py
+++ b/dimos/stream/audio/node_volume_monitor.py
@@ -169,7 +169,7 @@ def monitor(
 
 if __name__ == "__main__":
     from audio.node_simulated import SimulatedAudioSource  # type: ignore[import-not-found]
-    from utils import keepalive  # type: ignore[import-untyped]
+    from utils import keepalive  # type: ignore[import-not-found]
 
     # Use the monitor function to create and connect the nodes
     volume_monitor = monitor(SimulatedAudioSource().emit_audio())
diff --git a/dimos/utils/data.py b/dimos/utils/data.py
index 117269af51..6f4542355e 100644
--- a/dimos/utils/data.py
+++ b/dimos/utils/data.py
@@ -15,19 +15,86 @@
 from functools import cache
 import os
 from pathlib import Path
+import platform
 import subprocess
 import tarfile
+import tempfile
+
+from dimos.constants import DIMOS_PROJECT_ROOT
+from dimos.utils.logging_config import setup_logger
+
+logger = setup_logger()
+
+
+def _get_user_data_dir() -> Path:
+    """Get platform-specific user data directory."""
+    system = platform.system()
+
+    if system == "Linux":
+        # Use XDG_DATA_HOME if set, otherwise default to ~/.local/share
+        xdg_data_home = os.environ.get("XDG_DATA_HOME")
+        if xdg_data_home:
+            return Path(xdg_data_home) / "dimos"
+        return Path.home() / ".local" / "share" / "dimos"
+    elif system == "Darwin":  # macOS
+        return Path.home() / "Library" / "Application Support" / "dimos"
+    else:
+        # Fallback for other systems
+        return Path.home() / ".dimos"
 
 
 @cache
 def _get_repo_root() -> Path:
+    # Check if running from git repo
+    if (DIMOS_PROJECT_ROOT / ".git").exists():
+        return DIMOS_PROJECT_ROOT
+
+    # Running as installed package - clone repo to data dir
     try:
-        result = subprocess.run(
-            ["git", "rev-parse", "--show-toplevel"], capture_output=True, check=True, text=True
-        )
-        return Path(result.stdout.strip())
-    except subprocess.CalledProcessError:
-        raise RuntimeError("Not in a Git repository")
+        data_dir = _get_user_data_dir()
+        data_dir.mkdir(parents=True, exist_ok=True)
+        # Test if writable
+        test_file = data_dir / ".write_test"
+        test_file.touch()
+        test_file.unlink()
+        logger.info(f"Using local user data directory at '{data_dir}'")
+    except (OSError, PermissionError):
+        # Fall back to temp dir if data dir not writable
+        data_dir = Path(tempfile.gettempdir()) / "dimos"
+        data_dir.mkdir(parents=True, exist_ok=True)
+        logger.info(f"Using tmp data directory at '{data_dir}'")
+
+    repo_dir = data_dir / "repo"
+
+    # Clone if not already cloned
+    if not (repo_dir / ".git").exists():
+        try:
+            env = os.environ.copy()
+            env["GIT_LFS_SKIP_SMUDGE"] = "1"
+            subprocess.run(
+                [
+                    "git",
+                    "clone",
+                    "--depth",
+                    "1",
+                    "--branch",
+                    # TODO: Use "main",
+                    "dev",
+                    "git@github.com:dimensionalOS/dimos.git",
+                    str(repo_dir),
+                ],
+                check=True,
+                capture_output=True,
+                text=True,
+                env=env,
+            )
+        except subprocess.CalledProcessError as e:
+            raise RuntimeError(
+                f"Failed to clone dimos repository: {e.stderr}\n"
+                f"Make sure you have access to git@github.com:dimensionalOS/dimos.git"
+            )
+
+    return repo_dir
 
 
 @cache
@@ -43,13 +110,26 @@ def _get_lfs_dir() -> Path:
 
 
 def _check_git_lfs_available() -> bool:
+    missing = []
+
+    # Check if git is available
+    try:
+        subprocess.run(["git", "--version"], capture_output=True, check=True, text=True)
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        missing.append("git")
+
+    # Check if git-lfs is available
     try:
-        subprocess.run(["git", "lfs", "version"], capture_output=True, check=True, text=True)
+        subprocess.run(["git-lfs", "version"], capture_output=True, check=True, text=True)
     except (subprocess.CalledProcessError, FileNotFoundError):
+        missing.append("git-lfs")
+
+    if missing:
         raise RuntimeError(
-            "Git LFS is not installed. Please install git-lfs to use test data utilities.\n"
-            "Installation instructions: https://git-lfs.github.io/"
+            f"Missing required tools: {', '.join(missing)}.\n\n"
+            "Git LFS installation instructions: https://git-lfs.github.io/"
         )
+
     return True
 
 
diff --git a/dimos/utils/reactive.py b/dimos/utils/reactive.py
index 30acd8a241..2cb933fcbc 100644
--- a/dimos/utils/reactive.py
+++ b/dimos/utils/reactive.py
@@ -21,8 +21,8 @@
 from reactivex.disposable import Disposable
 from reactivex.observable import Observable
 from reactivex.scheduler import ThreadPoolScheduler
-from rxpy_backpressure import BackPressure  # type: ignore[import-untyped]
 
+from dimos.rxpy_backpressure import BackPressure  # type: ignore[import-untyped]
 from dimos.utils.threadpool import get_scheduler
 
 T = TypeVar("T")
diff --git a/docs/package_usage.md b/docs/package_usage.md
new file mode 100644
index 0000000000..24584a2e79
--- /dev/null
+++ b/docs/package_usage.md
@@ -0,0 +1,62 @@
+# Package Usage
+
+## With `uv`
+
+Init your repo if not already done:
+
+```bash
+uv init
+```
+
+Install:
+
+```bash
+uv add dimos[dev,cpu,sim]
+```
+
+Test the Unitree Go2 robot in the simulator:
+
+```bash
+uv run dimos-robot --simulation run unitree-g1
+```
+
+Run your actual robot:
+
+```bash
+uv run dimos-robot --robot-ip=192.168.X.XXX run unitree-g1
+```
+
+### Without installing
+
+With `uv` you can run tools without having to explicitly install:
+
+```bash
+uvx --from dimos dimos-robot --robot-ip=192.168.X.XXX run unitree-g1
+```
+
+## With `pip`
+
+Create an environment if not already done:
+
+```bash
+python -m venv .venv
+. .venv/bin/activate
+```
+
+Install:
+
+```bash
+pip install dimos[dev,cpu,sim]
+```
+
+Test the Unitree Go2 robot in the simulator:
+
+```bash
+dimos-robot --simulation run unitree-g1
+```
+
+Run your actual robot:
+
+```bash
+dimos-robot --robot-ip=192.168.X.XXX run unitree-g1
+```
diff --git a/pyproject.toml b/pyproject.toml
index 42f38a2502..95d59e6599 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -3,14 +3,18 @@ requires = ["setuptools>=70", "wheel", "pybind11>=2.12"]
 build-backend = "setuptools.build_meta"
 
 [tool.setuptools]
-include-package-data = true
+include-package-data = false
 
 [tool.setuptools.packages.find]
 where = ["."]
 include = ["dimos*"]
+exclude = ["dimos.web.websocket_vis.node_modules*"]
 
 [tool.setuptools.package-data]
-"*" = ["*.html", "*.css", "*.js", "*.json", "*.txt", "*.yaml", "*.yml"]
+"dimos" = ["*.html", "*.css", "*.js", "*.json", "*.txt", "*.yaml", "*.yml"]
+"dimos.robot.unitree_webrtc.params" = ["*.yaml", "*.yml"]
+"dimos.web.dimos_interface" = ["**/*.html", "**/*.css", "**/*.js"]
+"dimos.web.templates" = ["*"]
 
 [project]
 name = "dimos"
@@ -24,6 +28,8 @@ requires-python = ">=3.10"
 dependencies = [
     # Core requirements
     "opencv-python",
+    "numba>=0.60.0",      # Python 3.12 support
+    "llvmlite>=0.42.0",   # Required by numba 0.60+
     "python-dotenv",
     "openai",
     "anthropic>=0.19.0",
@@ -42,9 +48,8 @@ dependencies = [
     "Flask>=2.2",
     "python-multipart==0.0.20",
     "reactivex",
-    "rxpy-backpressure",
     "asyncio==3.4.3",
-    "unitree-webrtc-connect",
+    "unitree-webrtc-connect-leshy>=2.0.4",
     "tensorzero==2025.7.5",
     "structlog>=25.5.0,<26",
 
@@ -287,7 +292,7 @@ python_version = "3.12"
 incremental = true
 strict = true
 warn_unused_ignores = false
-exclude = "^dimos/models/Detic(/|$)|.*/test_.|.*/conftest.py*"
+exclude = "^dimos/models/Detic(/|$)|^dimos/rxpy_backpressure(/|$)|.*/test_.|.*/conftest.py*"
 
 [[tool.mypy.overrides]]
 module = [
@@ -315,6 +320,10 @@ module = [
 ]
 ignore_missing_imports = true
 
+[[tool.mypy.overrides]]
+module = ["dimos.rxpy_backpressure", "dimos.rxpy_backpressure.*"]
+follow_imports = "skip"
+
 [[tool.mypy.overrides]]
 module = [
     "dimos.msgs",
@@ -371,9 +380,6 @@ extra-build-dependencies = { detectron2 = ["torch"], contact-graspnet-pytorch =
 default-groups = []
 
 [tool.uv.sources]
-rxpy-backpressure = { git = "https://github.com/dimensionalOS/rxpy-backpressure.git" }
-# we are waiting for Legion to merge our PR https://github.com/legion1581/unitree_webrtc_connect/pull/46
-unitree-webrtc-connect = { git = "https://github.com/leshy/unitree_webrtc_connect.git", rev = "2cbb6ce657383c788f4a48d9d87ecf4b9b7dba1d" }
 clip = { git = "https://github.com/openai/CLIP.git" }
 dimos-lcm = { git = "https://github.com/dimensionalOS/dimos-lcm.git", rev = "3aeb724863144a8ba6cf72c9f42761d1007deda4" }
 contact-graspnet-pytorch = { git = "https://github.com/dimensionalOS/contact_graspnet_pytorch.git" }
diff --git a/uv.lock b/uv.lock
index 11a5612bfb..c368556573 100644
--- a/uv.lock
+++ b/uv.lock
@@ -35,7 +35,8 @@ version = "1.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "huggingface-hub" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "packaging" },
     { name = "psutil" },
     { name = "pyyaml" },
@@ -358,7 +359,8 @@ name = "bitsandbytes"
 version = "0.49.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'win32'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and sys_platform != 'darwin' and sys_platform != 'win32'" },
     { name = "packaging", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" },
     { name = "torch", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" },
 ]
@@ -402,7 +404,8 @@ dependencies = [
     { name = "contourpy", version = "1.3.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "jinja2" },
     { name = "narwhals" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "packaging" },
     { name = "pandas" },
     { name = "pillow" },
@@ -435,7 +438,8 @@ dependencies = [
     { name = "ml-collections" },
     { name = "mujoco" },
     { name = "mujoco-mjx" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "optax" },
     { name = "orbax-checkpoint" },
     { name = "pillow" },
@@ -711,7 +715,7 @@ dependencies = [
     { name = "absl-py", marker = "python_full_version < '3.11'" },
     { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
     { name = "jaxlib", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
-    { name = "numpy", marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
     { name = "toolz", marker = "python_full_version < '3.11'" },
     { name = "typing-extensions", marker = "python_full_version < '3.11'" },
 ]
@@ -742,7 +746,7 @@ dependencies = [
     { name = "absl-py", marker = "python_full_version >= '3.11'" },
     { name = "jax", version = "0.8.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "jaxlib", version = "0.8.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
-    { name = "numpy", marker = "python_full_version >= '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "toolz", marker = "python_full_version >= '3.11'" },
     { name = "typing-extensions", marker = "python_full_version >= '3.11'" },
 ]
@@ -777,7 +781,8 @@ dependencies = [
     { name = "jsonschema" },
     { name = "kubernetes" },
     { name = "mmh3" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "onnxruntime" },
     { name = "opentelemetry-api" },
     { name = "opentelemetry-exporter-otlp-proto-grpc" },
@@ -907,7 +912,7 @@ resolution-markers = [
     "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')",
 ]
 dependencies = [
-    { name = "numpy", marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/66/54/eb9bfc647b19f2009dd5c7f5ec51c4e6ca831725f1aea7a993034f483147/contourpy-1.3.2.tar.gz", hash = "sha256:b6945942715a034c671b7fc54f9588126b0b8bf23db2696e3ca8328f3ff0ab54", size = 13466130, upload-time = "2025-04-15T17:47:53.79Z" }
 wheels = [
@@ -988,7 +993,7 @@ resolution-markers = [
     "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')",
 ]
 dependencies = [
-    { name = "numpy", marker = "python_full_version >= '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/58/01/1253e6698a07380cd31a736d248a3f2a50a7c88779a1813da27503cadc2a/contourpy-1.3.3.tar.gz", hash = "sha256:083e12155b210502d0bca491432bb04d56dc3432f95a979b429f2848c3dbe880", size = 13466174, upload-time = "2025-07-26T12:03:12.549Z" }
 wheels = [
@@ -1256,7 +1261,8 @@ version = "13.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "fastrlock" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/f7/2e/db22c5148884e4e384f6ebbc7971fa3710f3ba67ca492798890a0fdebc45/cupy_cuda12x-13.6.0-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:9e37f60f27ff9625dfdccc4688a09852707ec613e32ea9404f425dd22a386d14", size = 126341714, upload-time = "2025-08-18T08:24:08.335Z" },
@@ -1365,7 +1371,8 @@ complete = [
     { name = "distributed" },
     { name = "jinja2" },
     { name = "lz4" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "pandas" },
     { name = "pyarrow" },
 ]
@@ -1476,7 +1483,8 @@ dependencies = [
     { name = "llvmlite" },
     { name = "moondream" },
     { name = "numba" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "ollama" },
     { name = "onnx" },
     { name = "open-clip-torch" },
@@ -1498,7 +1506,6 @@ dependencies = [
     { name = "pyturbojpeg" },
     { name = "reactivex" },
     { name = "requests" },
-    { name = "rxpy-backpressure" },
     { name = "scikit-learn", version = "1.7.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
     { name = "scikit-learn", version = "1.8.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
@@ -1517,7 +1524,7 @@ dependencies = [
     { name = "typeguard" },
     { name = "typer" },
     { name = "ultralytics" },
-    { name = "unitree-webrtc-connect" },
+    { name = "unitree-webrtc-connect-leshy" },
     { name = "uvicorn" },
     { name = "wasmtime" },
     { name = "xarm-python-sdk" },
@@ -1702,7 +1709,6 @@ requires-dist = [
     { name = "requests-mock", marker = "extra == 'dev'", specifier = "==1.12.1" },
     { name = "rtree", marker = "extra == 'manipulation'" },
     { name = "ruff", marker = "extra == 'dev'", specifier = "==0.14.3" },
-    { name = "rxpy-backpressure", git = "https://github.com/dimensionalOS/rxpy-backpressure.git" },
     { name = "scikit-learn" },
     { name = "scipy", specifier = ">=1.15.1" },
     { name = "sentence-transformers" },
@@ -1739,7 +1745,7 @@ requires-dist = [
     { name = "types-tensorflow", marker = "extra == 'dev'", specifier = ">=2.18.0.20251008,<3" },
     { name = "types-tqdm", marker = "extra == 'dev'", specifier = ">=4.67.0.20250809,<5" },
     { name = "ultralytics", specifier = ">=8.3.70" },
-    { name = "unitree-webrtc-connect", git = "https://github.com/leshy/unitree_webrtc_connect.git?rev=2cbb6ce657383c788f4a48d9d87ecf4b9b7dba1d" },
+    { name = "unitree-webrtc-connect-leshy", specifier = ">=2.0.4" },
     { name = "uvicorn", specifier = ">=0.34.0" },
     { name = "wasmtime" },
     { name = "xarm-python-sdk", specifier = ">=1.17.0" },
@@ -1755,7 +1761,8 @@ source = { git = "https://github.com/dimensionalOS/dimos-lcm.git?rev=3aeb7248631
 dependencies = [
     { name = "foxglove-websocket" },
     { name = "lcm" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
 ]
 
 [[package]]
@@ -1896,7 +1903,7 @@ wheels = [
 
 [[package]]
 name = "fastapi"
-version = "0.127.1"
+version = "0.128.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "annotated-doc" },
@@ -1904,9 +1911,9 @@ dependencies = [
     { name = "starlette" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/96/8a/6b9ba6eb8ff3817caae83120495965d9e70afb4d6348cb120e464ee199f4/fastapi-0.127.1.tar.gz", hash = "sha256:946a87ee5d931883b562b6bada787d6c8178becee2683cb3f9b980d593206359", size = 391876, upload-time = "2025-12-26T13:04:47.075Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/52/08/8c8508db6c7b9aae8f7175046af41baad690771c9bcde676419965e338c7/fastapi-0.128.0.tar.gz", hash = "sha256:1cc179e1cef10a6be60ffe429f79b829dce99d8de32d7acb7e6c8dfdf7f2645a", size = 365682, upload-time = "2025-12-27T15:21:13.714Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/d2/f3/a6858d147ed2645c095d11dc2440f94a5f1cd8f4df888e3377e6b5281a0f/fastapi-0.127.1-py3-none-any.whl", hash = "sha256:31d670a4f9373cc6d7994420f98e4dc46ea693145207abc39696746c83a44430", size = 112332, upload-time = "2025-12-26T13:04:45.329Z" },
+    { url = "https://files.pythonhosted.org/packages/5c/05/5cbb59154b093548acd0f4c7c474a118eda06da25aa75c616b72d8fcd92a/fastapi-0.128.0-py3-none-any.whl", hash = "sha256:aebd93f9716ee3b4f4fcfe13ffb7cf308d99c9f3ab5622d8877441072561582d", size = 103094, upload-time = "2025-12-27T15:21:12.154Z" },
 ]
 
 [[package]]
@@ -2048,7 +2055,8 @@ name = "fasttext"
 version = "0.9.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "pybind11" },
     { name = "setuptools" },
 ]
@@ -2081,7 +2089,8 @@ version = "1.4.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "matplotlib" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
     { name = "scipy", version = "1.16.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
 ]
@@ -2185,7 +2194,7 @@ resolution-markers = [
 dependencies = [
     { name = "jax", version = "0.8.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "msgpack", marker = "python_full_version >= '3.11'" },
-    { name = "numpy", marker = "python_full_version >= '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "optax", marker = "python_full_version >= '3.11'" },
     { name = "orbax-checkpoint", marker = "python_full_version >= '3.11'" },
     { name = "pyyaml", marker = "python_full_version >= '3.11'" },
@@ -2318,7 +2327,8 @@ version = "0.1.5.post20221221"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "iopath" },
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "pillow" },
     { name = "pyyaml" },
     { name = "tabulate" },
@@ -2504,7 +2514,8 @@ name = "h5py"
 version = "3.15.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
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