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The same Step list you simulate can run on hardware. The robot controllers expose three transports, each suited to a different setup.
Deploying drives a real robot. Start on a stand or with clearance, keep an emergency stop reachable, and test in simulation first. SSH transports need the deploy extra: pip install "cadenza-lab[deploy]".

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DDS: run directly on the robot

Best when your code runs on the robot’s onboard computer. Lowest latency. 
import cadenza_lab as cadenza

go1 = cadenza.go1()
go1.deploy([
    go1.stand(),
    go1.walk_forward(speed=0.5),
    go1.jump(),
], domain_id=0)          # 0 = real robot, 1 = simulation

go1.deploy(sequence, domain_id=0, network_interface=None)

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SSH: upload and run a script

Best when your code runs on a laptop and you want to push a self-contained script to the robot and let it execute there. 
go1 = cadenza.go1()
go1.deploy_ssh("my_demo.py", host="192.168.123.15", key="~/.ssh/go1_rsa")

go1.deploy_ssh(script, host="192.168.123.15", user="unitree",
               key=None, password=None, setup=True, background=False)
A lower-level connection helper is also available: 
conn = go1.ssh("192.168.123.15", key="~/.ssh/go1_rsa")   # -> SSHDeploy
conn.deploy_and_run("my_demo.py")

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Bridge: host model, live control

Best when your VLA / policy runs on your host PC and needs real-time control of the physical robot. Starts a bridge on the robot and returns a live handle. 
go1 = cadenza.go1()
bridge = go1.deploy_ssh_bridge(host="192.168.123.15", key="~/.ssh/go1_rsa")

bridge.send_action("stand")
bridge.send_action("walk_forward", speed=0.5)
print(bridge.telemetry)     # live joint positions
bridge.estop()              # emergency stop

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G1 humanoid

The G1 controller mirrors the API (default IP 192.168.123.164): 
g1 = cadenza.g1()
g1.deploy([g1.stand(), g1.walk_forward(distance_m=1.0)])         # DDS
g1.deploy_ssh("g1_demo.py", host="192.168.123.164", key="~/.ssh/g1_rsa")

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Choosing a transport

TransportCode runs onLatencyUse when
deploy() (DDS)the robotlowestOnboard autonomy, no laptop in the loop.
deploy_ssh()laptop → robotn/a (batch)Ship a fixed routine and let the robot run it.
deploy_ssh_bridge()laptop (live)network RTTA model on your PC steers the robot in real time.
Build and validate the exact Step sequence in the viewer first, then switch go1.run(...) to go1.deploy(...). The action list is identical.