Run and deploy complex robot actions with a simple Python SDK.

Robots • Quickstart • Docs • Deploy

Cadenza lets you write complex motion-targeted code and run it in MuJoCo or on hardware. Three robots are supported out of the box.

Website: www.cadenzalabs.xyz  •  pip package: cadenza-lab  •  Deploy to hardware: DEPLOY.md

🤖 Supported robots

Go1 and G1 deploy to real hardware (see DEPLOY.md); the arm is simulation-only today. Want drones, other arms, or custom hardware? Reach out — acparekh@stanford.edu.

⚡ Quickstart

pip install cadenza-lab

Each robot follows the same shape: create a controller, build a list of actions, run(). The clips below are each rendered straight from the snippet above them.

🐾 Go1 — quadruped

The Go1 stands, walks 2 m, arcs through a turn (nested list = concurrent), jumps, and sits.

import cadenza_lab as cadenza

go1 = cadenza.go1()
go1.run([
    go1.stand(),
    go1.walk_forward(speed=1.5, distance_m=2.0),
    [go1.turn_left(), go1.walk_forward()],   # concurrent: walking arc
    go1.jump(speed=2.0, extension=1.2),
    go1.sit(),
])

🦾 G1 — humanoid

The G1 walks forward with a trajectory-optimized bipedal gait, comes to a balanced stop, then jumps — all under active balance stabilization.

import cadenza_lab as cadenza

g1 = cadenza.g1()
g1.run([
    g1.walk_forward(distance_m=1.0),  # walk, then settle to a stand
    g1.jump(),                        # jump from the balanced stop
])

🤖 Arm — 6-axis pick & place

The arm homes, picks the cube off the table, places it to the side, and returns home. Targets are Cartesian (x, y, z); motion is IK-driven and the grasp is a weld the controller activates when the gripper closes.

import cadenza_lab as cadenza

arm = cadenza.arm()
arm.run([
    arm.home(),
    arm.pick((0.50, 0.00, 0.43)),   # grab the cube on the table
    arm.place((0.40, 0.22, 0.43)),  # set it down to the side
    arm.home(),
])

📚 Next steps

💚 Community