Actions

Actions are reusable robot behaviors that belong to your account. There are two kinds:

Group (a macro): an ordered sequence of existing base actions (e.g. walk_forward, turn_left).
Custom: a behavior defined directly from joint-pose keyframes.

Created actions are saved locally under <project>/actions/<name>.json and synced to your account in the same step.

All env action commands require sign-in. They operate on your account’s actions. Run cadenza login <name> <token> first.

Create

cadenza env action create <project> <name> [options]

Flag	Description
`--group`	Build a macro (default).
`--steps '<a,b,c>'`	Comma-separated base actions for a group, e.g. `'walk_forward,turn_left,sit'`. Omit to build interactively.
`--custom`	Build a custom joint-pose action.
`--frames-file <file>`	Read custom keyframes from a JSON file instead of the interactive editor (for scripts/CI). Implies `--custom`.
`--robot <name>`	Robot for the action. Defaults to the project’s `env.json` robot, else `go1`.

The robot determines the available base actions. See SDK · Actions for the full go1 and g1 action lists.

Group (macro)
Custom (from a file)

cadenza env action create rescue-dog enter_and_search \
  --group --steps 'walk_forward,crawl_forward,turn_left'
# ↑ synced to supabase (row …, account …)

cadenza env action create rescue-dog paw_wave \
  --custom --frames-file paw_wave.json --robot g1

Without --frames-file, an interactive keyframe editor opens.

List, show, remove

cadenza env action list                       # YOUR account's actions (sign-in required)
cadenza env action show rescue-dog enter_and_search    # inspect a local action
cadenza env action remove rescue-dog paw_wave          # delete a local action

list returns only your own account’s actions. You never see anyone else’s.
show / remove operate on the project’s local action files.

Use a group action’s name as a step inside env.json phases or in larger macros to compose complex behaviors from simple ones.

Introduction

Configure

Using the CLI

Megan

Reference

Create

List, show, remove

​Create

​List, show, remove

Create

List, show, remove