Setup

Megan ships inside the cadenzalabs Python package (import name cadenzalabs). The client is standard-library only — it pulls in no third-party dependency and needs no extras (gym / lora / rl / vla), so it’s safe to add to a lightweight project.

The standalone cadenza binary bundles its own Python and is not importable. To use the SDK from your own code, install the Python package into your project’s environment.

1. Install the package

pip install cadenzalabs
# or, from a source checkout:
git clone https://github.com/aparekh02/cadenza-cli.git
cd cadenza-cli && pip install -e .

Verify the import:

python -c "from cadenzalabs import MeganTK; print('ok')"

2. Get a token

Your API key is your Cadenza sign-in token. If you don’t have one, request one by emailing acparekh@stanford.edu, then sign in once so the CLI caches it:

cadenza login <name> <token>

Print it back any time — with a ready-to-paste snippet — using apikey:

cadenza apikey
# megan-tk API key  (= your sign-in token)
#   3Ls6••••••••••••QFvT
#   pass --reveal to print it in full

Treat the token like a secret. apikey masks it by default; pass --reveal only when you need the full value, and prefer an environment variable over hard-coding it in source.

3. How the key is resolved

MeganTK() finds your key in this order — the first hit wins:

Explicit argument

MeganTK(api_key="...")

CADENZA_API_KEY

Environment variable — the recommended way to configure a deployed app.

CADENZA_TOKEN

Environment variable — accepted as an alias.

CLI session

~/.cadenza/config.json — so a machine that ran cadenza login just works.

If none resolve, the constructor raises AuthRequired with a message telling you how to supply one.

export CADENZA_API_KEY=<your-token>

from cadenzalabs import MeganTK

tk = MeganTK()          # reads CADENZA_API_KEY / CADENZA_TOKEN / CLI session
print(tk.version())     # {'service': 'megantk', 'megantk_version': '0.1.0', ...}
print(tk.ping())        # True if the token authenticates

4. Your first decision

from cadenzalabs import MeganTK

tk = MeganTK()

with tk.session(objective="pick up the red cube",
                milestones=["reach", "grasp", "lift"]) as s:
    # nothing reached yet, and a wall is blocking the first milestone
    d = s.step(reached=[], obstacles=[{"id": "wall", "milestone": 0}])
    print(d.route, "→", d.frontier)     # e.g. adapt → milestone_0

    d = s.step(reached=[0])             # cleared it
    print(d.route, "→", d.frontier)     # continue → milestone_1

Configuration reference

Setting	How to set it	Default
API key	`MeganTK(api_key=...)`, `CADENZA_API_KEY`, `CADENZA_TOKEN`, or CLI session	— (required)
API URL	`MeganTK(api_url=...)` or `CADENZA_API_URL`	`https://www.api.cadenzalabs.xyz`
Timeout (s)	`MeganTK(timeout=...)`	`30.0`

Point CADENZA_API_URL (or api_url=) at a locally-running Cadenza API for development. In production, leave it unset to use the hosted service.

Token sessions

The milestone and perception decision paths.

Usage & metering

See exactly what you’ve consumed.

Introduction

Configure

Using the CLI

Megan

Reference

1. Install the package

2. Get a token

3. How the key is resolved

4. Your first decision

Configuration reference

Next

Token sessions

Usage & metering

​1. Install the package

​2. Get a token

​3. How the key is resolved

​4. Your first decision

​Configuration reference

​Next

Token sessions

Usage & metering

1. Install the package

2. Get a token

3. How the key is resolved

4. Your first decision

Configuration reference

Next