almond_axol.zed

Helpers for the ZED cameras attached to the host machine over GMSL. Requires pyzed — install it with axol zed.install (see zed.install). The cameras themselves are opened by the LeRobot wrappers in almond_axol.lerobot.camera.

from almond_axol.zed import ZedDevice, list_zed_devices, restart_zed_daemon, stereo_serials

`list_zed_devices()`

Enumerates the ZED cameras currently visible to the SDK — both mono (ZED-X One, sl.CameraOne) and stereo (ZED X, sl.Camera) — and returns a list of ZedDevice dicts sorted by serial number:

from almond_axol.zed import list_zed_devices

for dev in list_zed_devices():
    print(dev["serial"], dev["model"], dev["kind"])
# 41234567 ZED XM mono
# 41234568 ZED XM mono
# 41234569 ZED X  stereo

Key	Type	Description
`serial`	`int`	Camera serial number — what you pass to `ZedCameraConfig(serial=...)`
`model`	`str`	SDK model name (e.g. `ZED XM`, `ZED X`)
`kind`	`str`	`"mono"` (ZED-X One) or `"stereo"` (ZED X)

`stereo_serials()`

Returns the serial numbers of the connected stereo (ZED X) cameras as a set[int]. This is how the SDK auto-detects whether a configured camera is stereo from its serial alone — so teleop and the control panel never make the operator flag it by hand:

from almond_axol.zed import stereo_serials

if 41234569 in stereo_serials():
    ...  # open it as a stereo ZED X (both eyes)

Best-effort: any enumeration failure (pyzed missing, daemon down) returns an empty set, in which case callers treat every camera as mono.

`restart_zed_daemon()`

Restarts the zed_x_daemon systemd service and blocks ~5 s while it re-enumerates the GMSL links. The daemon only scans for cameras when it starts, so a camera plugged in after boot stays invisible to the SDK until the daemon restarts — call this (or use the Restart daemon button in the control panel’s Cameras settings tab) before opening cameras when in doubt.

from almond_axol.zed import restart_zed_daemon

restart_zed_daemon()  # raises RuntimeError if systemctl fails

Runs systemctl restart zed_x_daemon via passwordless sudo when not root (raises RuntimeError if that fails — e.g. headless without sudo rights).

Get Started

Operations

Remote Teleop

Web Interfaces

Advanced

almond_axol.zed

`list_zed_devices()`

`stereo_serials()`

`restart_zed_daemon()`

​list_zed_devices()

​stereo_serials()

​restart_zed_daemon()

`list_zed_devices()`

`stereo_serials()`

`restart_zed_daemon()`