almond_axol.zed

Helpers for the ZED cameras attached to the host computer over GMSL. They require pyzed, which you install with axol zed.install. The LeRobot wrappers in almond_axol.lerobot.camera open the cameras themselves.

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

`list_zed_devices()`

Lists the ZED cameras the SDK can see, both mono (ZED-X One, sl.CameraOne) and stereo (ZED X, sl.Camera). 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, the value 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]. Teleop and the control panel use it to detect stereo cameras from their serial, so the operator doesn’t have to mark them:

from almond_axol.zed import stereo_serials

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

If listing fails, for example because pyzed is missing or the daemon is down, it returns an empty set. Callers then treat every camera as mono.

`restart_zed_daemon()`

Restarts the zed_x_daemon systemd service and waits about 5 s while it scans the GMSL links again. The daemon looks for cameras only when it starts, so the SDK can’t see a camera plugged in after boot until the daemon restarts. When in doubt, call this before opening cameras, or press Restart camera service on the Axol or Mantis Cameras tab.

from almond_axol.zed import restart_zed_daemon

restart_zed_daemon()  # raises RuntimeError if systemctl fails

When not running as root, it runs systemctl restart zed_x_daemon through passwordless sudo. It raises RuntimeError if that fails, for example on a headless session without sudo rights.

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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()`