Run in simulation

The Reactor gateway connects X-WAM’s upstream evaluation client to the hosted policy. RoboTwin owns physics, episode termination, and task scoring. The gateway translates observations into video tracks and model commands, then returns actions to the evaluation client.

Prepare RoboTwin

Use the upstream evaluation environment at the revision below. Install the simulator and its assets following the evaluation setup and RoboTwin installation guide. The simulator requires a CUDA-capable Linux environment. Model weights and the upstream policy server are unnecessary when using Reactor.

git clone https://github.com/sharinka0715/X-WAM.git
cd X-WAM
git checkout 72cfb86b33fc5060963ef63412f16439fcfa472f
git submodule update --init --recursive
cp -R evaluation/X-WAM third_party/RoboTwin/policy/X-WAM

Use separate Python environments:

Environment	Contents
Simulator	Upstream evaluation dependencies, Python 3.10, NumPy `1.23.5`
Gateway	Reactor SDK and transport dependencies, Python 3.12, NumPy `>=1.26`

The selected demo_randomized task configuration uses aloha-agilex, a head camera and two wrist cameras. The upstream checkout pins RoboTwin to c3ddfa8b97d5519efa828b075999bd0006778e5e.

Start the gateway

In a separate terminal, start at the root of the reactor-cookbook checkout from the quickstart:

cd robotics/sim/robotwin
uv sync --frozen --python 3.12
export REACTOR_API_KEY='your-api-key'
uv run --frozen python check_wiring.py
uv run --frozen python -m robotwin_sim.main --model reactor/xwam --port 10086

The wiring check runs offline. Wait for tracks published and the gateway’s listening message before starting the simulator. Keep the gateway port on a trusted local network: this example uses the upstream client’s pickle-based protocol.

Run an episode

In a second terminal, activate the simulator environment and run this from the X-WAM repository root. The client resolves third_party/RoboTwin relative to the working directory.

python evaluation/robotwin_client.py \
  --task_name adjust_bottle \
  --task_config demo_randomized \
  --num_evals_per_worker 1 \
  --action_length 32 \
  --server_port 10086 \
  --save_root_dir ./eval_results/robotwin

The client executes up to 32 actions before requesting another chunk. It saves results and rollout videos under the output directory. Check the task success result separately from successful API responses: an episode can finish without solving the task. Stop the gateway with Ctrl-C when done to close its Reactor session.

Get started

Models

Run in simulation

Prepare RoboTwin

Start the gateway

Run an episode

​Prepare RoboTwin

​Start the gateway

​Run an episode

Prepare RoboTwin

Start the gateway

Run an episode