Running missions

`env run`

Executes a project’s mission phase-by-phase, logging every tick and running the LLM judge at the end for a verdict.

cadenza env run rescue-dog --headless

env run requires the gym extra (MuJoCo). Install with pip install -e ".[gym]".

Flags

Flag	Default	Description
`--headless`	viewer shown	Run without the MuJoCo viewer. Works on any Python (no `mjpython` needed). Use this in scripts/CI.
`--policy <p>`	`scripted`	Driver. `scripted` parses each phase’s `goal_prompt` into actions. `lora` drives with your fine-tuned LoRA action head (needs the `lora` extra).
`--xml <path>`	project default	Override the MuJoCo scene XML.

cadenza env run rescue-dog --headless --policy lora

Output

Each run writes two files under <project>/.cadenza-env/:

File	Contents
`<run-id>.log.jsonl`	One record per executed action: phase, reward, observation summary.
`<run-id>.finetune.jsonl`	`(prompt, action, reward, …)` rows rendered via `vla_finetune.prompt_template`.

The scripted driver exercises the full loop and emits fine-tune records but is not a learned policy. To drive the same mission with your own model, see Custom environments.

`env stats`

Aggregate motion and reward analytics across a project’s cached runs.

cadenza env stats rescue-dog

Reports per-phase success, reward breakdowns, and motion summaries, so you can see whether edits to your reward shaping or policy actually helped.

`env cache`

Show or prune the per-project .cadenza-env/ run directory to manage disk.

cadenza env cache rescue-dog                    # show what's cached
cadenza env cache rescue-dog --keep-last 5      # keep only the 5 newest runs
cadenza env cache rescue-dog --older-than 7d    # drop runs older than 7 days
cadenza env cache rescue-dog --clear            # remove all cached runs

Flag	Description
`--keep-last <n>`	Keep the `n` most recent runs, delete the rest.
`--older-than <dur>`	Delete runs older than a duration (e.g. `7d`, `24h`).
`--clear`	Delete all cached runs for the project.

Introduction

Configure

Using the CLI

Megan

Reference

`env run`

Flags

Output

`env stats`

`env cache`

​env run

​Flags

​Output

​env stats

​env cache

`env run`

Flags

Output

`env stats`

`env cache`