RCS ZED Extension

Support for Stereolabs ZED cameras in RCS.

This extension depends on rcs-core. Documentation: https://robotcontrolstack.org/extensions/rcs_zed

Installation

• You need a PC with an Nvidia GPU and CUDA 12.8 installed.
• Install the ZED SDK from Stereolabs.
• Install the Python bindings from the zed-python-api.

Install from PyPI:

pip install rcs-zed

Warning: plain pip install rcs-zed will install the published rcs-core dependency from PyPI.

Install from a local checkout:

pip install -ve .

If you want this extension to use your local RCS checkout instead of the published rcs-core package, first install the main package from the repository root:

pip install -ve . --no-build-isolation
pip install -ve extensions/rcs_zed

Calibration

default_zed(...) is standalone and uses RCS's identity DummyCalibrationStrategy by default. To use measured extrinsics, pass one calibration strategy per logical camera:

from rcs_zed.utils import default_zed

calibration = {
    "wrist": my_wrist_calibration,
    "scene": my_scene_calibration,
}
cameras = default_zed(
    {"wrist": "12345678", "scene": "87654321"},
    calibration_strategy=calibration,
)

Each value must implement the rcs.camera.hw.CalibrationStrategy protocol. This keeps ZED installation independent of other camera extensions and lets applications choose the calibration method that matches their robot setup.

CLI

python -m rcs_zed serials
python -m rcs_zed rgb-view

Permissions

sudo usermod -a -G video,plugdev $USER

Connection Diagnostics

• Use ZED_Diagnostic first if something appears broken.
• See the Stereolabs USB troubleshooting guide: https://support.stereolabs.com/hc/en-us/articles/207635225-How-to-fix-USB-3-0-bandwidth-and-connection-issues