Python Examples — Zenoh

The Zenoh example scripts in examples/python/ are drop-in counterparts to the WebSocket examples. The server and client interfaces are identical; only the transport changes.

uv run examples/python/zenoh_server_example.py &
uv run examples/python/zenoh_client_example.py

---

What is different from the WebSocket examples

	WebSocket	Zenoh
Server constructor	super().__init__(host="0.0.0.0", port=8765)	super().__init__(protocol="zenoh")
Client URI	"ws://localhost:8765"	"tcp/localhost:7447"
Default port	8765	7447
Transport	HTTP upgrade → WebSocket frames	Zenoh binary framing over TCP

Everything else — camera_configs, proprio_configs, reset, step, the update_* helpers, and the tqdm latency measurement on the client — is unchanged.

---

Server

File: examples/python/zenoh_server_example.py

The only difference from server_example.py is the constructor:

class MyRobotServer(chiral.PolicyServer):
    def __init__(self):
        super().__init__(protocol="zenoh")  # listens on tcp/0.0.0.0:7447
        ...

protocol="zenoh" selects the Zenoh transport. The default port when using Zenoh is 7447. To use a different port:

super().__init__(host="0.0.0.0", port=7448, protocol="zenoh")

---

Client

File: examples/python/zenoh_client_example.py

The only difference from client_example.py is the URI and protocol argument:

with chiral.PolicyClient("tcp/localhost:7447", protocol="zenoh") as env:
    ...

"tcp/localhost:7447" is also the default when protocol="zenoh" is set and no URI is given, so on localhost this can be shortened to:

with chiral.PolicyClient(protocol="zenoh") as env:
    ...

---

Benchmarking

Run the WebSocket and Zenoh examples back-to-back to compare latency under identical conditions. The tqdm summary at the end of each client run prints mean, median, min, max, p95, and p99 latency across the full episode, making it straightforward to compare the two transports.

# WebSocket
uv run examples/python/server_example.py &
uv run examples/python/client_example.py
kill %1

# Zenoh
uv run examples/python/zenoh_server_example.py &
uv run examples/python/zenoh_client_example.py
kill %1