Granular deps

[leshy]

uv pip install .[unitree]

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[greptile-apps]

Greptile Summary

This PR restructures the project's dependency management to support granular installation with optional dependency groups. Dependencies previously in the core dependencies list were moved to optional groups (misc, agents, web, perception, unitree), allowing users to install only what they need via uv pip install .[group_name].

Key changes:

• Moved most dependencies from core to optional groups (agents, web, perception, unitree, misc)
• Kept only essential dependencies in core (transport protocols, core libraries, multiprocess, logging, CLI tools)
• Created unitree group that depends on agents, web, and perception groups plus Unitree-specific packages
• Removed unused zmq import and with_zmq_socket method from video_operators.py
• Commented out _navigate_to_object and _navigate_using_semantic_map methods in navigation.py along with their BBox import

Critical issue:
The commented-out navigation methods break existing test mocks and remove important navigation functionality (object tracking and semantic map navigation)

Confidence Score: 2/5

• This PR has breaking changes that remove core navigation functionality and will cause test failures
• While the dependency restructuring is well-organized and the zmq removal is clean, commenting out critical navigation methods (_navigate_to_object and _navigate_using_semantic_map) breaks existing tests and removes user-facing functionality without proper deprecation or replacement
• Pay close attention to dimos/agents/skills/navigation.py - the commented-out methods need to either be restored or properly removed with test updates

Important Files Changed

Filename	Overview
pyproject.toml	Restructured dependencies into granular optional dependency groups (agents, web, perception, unitree) moving many packages from core dependencies to optional extras
dimos/agents/skills/navigation.py	Removed BBox import and commented out _navigate_to_object and _navigate_using_semantic_map methods, which breaks test dependencies and reduces navigation functionality
dimos/stream/video_operators.py	Removed unused zmq import and with_zmq_socket method that was no longer needed

Sequence Diagram

sequenceDiagram
    participant User
    participant Install as uv pip install
    participant PyProject as pyproject.toml
    participant Core as Core Dependencies
    participant Optional as Optional Groups
    
    User->>Install: uv pip install .[unitree]
    Install->>PyProject: Read dependency configuration
    PyProject->>Core: Install base dependencies
    Note over Core: numpy, scipy, opencv-python<br/>dimos-lcm, reactivex, dask, etc.
    PyProject->>Optional: Install unitree group
    Optional->>Optional: Resolve unitree dependencies
    Note over Optional: dimos[agents,web,perception]<br/>aiortc, unitree-webrtc-connect<br/>pycryptodome, pyaudio
    Optional->>Optional: Install agents group
    Note over Optional: langchain, ollama<br/>openai-whisper, sounddevice
    Optional->>Optional: Install web group
    Note over Optional: fastapi, uvicorn<br/>ffmpeg-python, soundfile
    Optional->>Optional: Install perception group
    Note over Optional: ultralytics, filterpy<br/>transformers, moondream
    Optional->>User: Installation complete

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[paul-nechifor]

Looks like this provides the Crypto package, but it's not used anywhere.

[paul-nechifor]

BTW, the worst thing about Python is the terrible package management. Just because pycryptodome is never imported doesn't mean it's not used. Because pycryptodome actually provides Crypto.

There are a lot of packages pypackages.toml which have 0 usages, but it's hard to tell if they're needed or not.

[jeff-hykin]

(Commenting because this has an impact on the reliability and difficulty of the installer). The number of apt-get installs needed just to make the non-optional pip modules work is massive. I'm all for minimizing them and breaking them up.

I might be able to add a runtime pytest tracer to tell us at least what imports are being used for each test. Something like:

import sys
import pytest

@pytest.fixture(scope="session", autouse=True)
def track_imports():
    before = set(sys.modules.keys())
    yield
    after = set(sys.modules.keys())
    imported = sorted(after - before)

    with open("imported_modules.txt", "w") as f:
        for m in imported:
            f.write(m + "\n")

and I'm sure theres some way to get a reverse mapping of pip module name to import name.

I know the tests dont have full coverage but I think per-test list of what pip module names are used could be pretty useful for finding dead pip dependencies

[paul-nechifor]

uv pip install .[unitree]

I think we should aim for using native uv and not uv pip (uv sync --extra unitree)

[spomichter]

What does this random change have to do with this PR @paul-nechifor

[spomichter]

@codex review is that zmq socket removal a breaking change anywhere

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