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Installation

Requirements

  • Python 3.11+
  • uv package manager

Install

Clone the repository with submodules and sync dependencies with uv:

git clone --recurse-submodules git@github.com:TRI-ML/raiden.git
cd raiden
uv sync

If you already cloned without --recurse-submodules, initialize the submodule manually:

git submodule update --init

Install rd as a shell command:

uv tool install -e .                                                    # base install
uv tool install -e ".[zed]"                                             # + ZED cameras
uv tool install -e ".[zed,tri-stereo]"                                  # + TRI Stereo depth (ONNX)
uv tool install -e ".[zed,tri-stereo,tri-stereo-trt-cu12]"              # + TensorRT (CUDA 12)
uv tool install -e ".[zed,tri-stereo,tri-stereo-trt-cu13]"              # + TensorRT (CUDA 13)
rd --help

Note

Re-run uv tool install --reinstall -e ".[<extras>]" whenever you add or change extras, or after pulling updates from the repository.

Hardware SDKs

ZED cameras - install the ZED SDK, then run the helper script to download the matching Python wheel:

uv run python scripts/install_pyzed.py
uv sync --extra zed

This downloads pyzed-*.whl into packages/ and updates pyproject.toml to reference it. uv sync --extra zed then installs it into the project environment.

Intel RealSense - pyrealsense2 is included as a core dependency and will be installed by uv sync. No additional SDK installation is required for most distributions.

Optional depth backends

  • TRI Stereo Depth — TRI's learned stereo depth model tailored for robot manipulation scenes. Supports c32 and c64 variants with ONNX and TensorRT backends.
  • Fast Foundation Stereo — foundation model stereo depth; higher quality at object boundaries and thin structures.