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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.

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Create

cadenza env action create <project> <name> [options]
FlagDescription
--groupBuild 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.
--customBuild 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. 
cadenza env action create rescue-dog enter_and_search \
  --group --steps 'walk_forward,crawl_forward,turn_left'
# ↑ synced to supabase (row …, account …)

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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.