Skip to content

Installation

Requirements

  • Python 3.11+
  • uv package manager — install with curl -LsSf https://astral.sh/uv/install.sh | sh
  • ZED SDK (if using ZED cameras)

Install

Clone the repository with submodules:

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

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

git submodule update --init

Hardware SDKs

ZED cameras - after installing the ZED SDK, run the helper script to download the matching Python wheel:

uv run python scripts/install_pyzed.py

This downloads pyzed-*.whl into packages/ and updates pyproject.toml to reference it.

Intel RealSense (not recommended) - no additional SDK installation is required for most distributions; pyrealsense2 is installed via the realsense extra.

Install rd

Install rd as a shell command, picking the extras that match your hardware and depth backend:

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)
uv tool install -e ".[realsense]"                                       # + RealSense cameras (not recommended)
rd --help

Note

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

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.