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The public reference examples include a gateway for NVIDIA RoboLab’s DreamZero client. The gateway exposes an OpenPI-compatible WebSocket endpoint; RoboLab runs the simulator and scores episodes, while Reactor runs inference. The client code is public. Contact Reactor if you need hosted model access.

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Prepare the gateway

After client setup, move from robotics/sim/notebooks/ to robotics/sim/dreamzero/:
check_wiring.py runs without an API key or simulator and checks the protocol, camera mapping, state handling, and reset behavior. The gateway command requires REACTOR_API_KEY. The example binds to localhost; choose an appropriate --host address if the simulator runs on a separate machine.

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Run RoboLab

Install RoboLab and its supported Isaac Sim environment separately. The simulator needs graphics-capable hardware; the gateway itself needs no GPU. From RoboLab’s root in that environment, run:
Use the gateway machine’s address for a remote simulator. Follow RoboLab’s own installation and container launcher instructions for its Python interpreter and assets. The reference configuration executes a full 24-row chunk at 15 Hz. Keep --num-envs 1: one Reactor session holds one episode’s causal history. Multiple environments require separate sessions. RoboLab’s default black second exterior view maps to exterior_2; exterior_1 remains the real primary camera. The gateway connects lazily on the first observation, after simulator startup. Its queue-fed tracks send one frame per view per request rather than repeating held images between requests. It discards already-seen obs_seq values; this is a freshness filter, not a client observation ID guarantee. Expect a gateway listener, a connection on the first simulation request, episode_started, then (24, 8) chunks. RoboLab writes evaluation output under its own output/ directory. A passing wiring check verifies transport behavior; task success must be measured in the simulator.