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The Cadenza SDK is the Python library cadenza-lab: the MuJoCo-based simulator, robots, action library, and inference stack that the CLI drives under the hood. Use it directly when you want to:
  • Simulate robots and build scenes programmatically.
  • Roll out policies through a Gym-style interface.
  • Plug your own vision-language-action (VLA) / world model into the inference stack.
  • Drive a CLI project’s mission with your own model.

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Install

pip install cadenza-lab
Or get it transitively via a CLI source install with the gym extra: 
pip install -e ".[gym]"     # from the cadenza-cli repo

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Import

The PyPI distribution is cadenza-lab. The importable module is cadenza. A thin alias lets you import it under either name: 
import cadenza_lab as cadenza   # recommended
# or:  import cadenza

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The API at a glance

AreaEntry pointsGuide
Quick rolloutscadenza.run(...), cadenza.view(...)Quickstart
Robotscadenza.go1(...), cadenza.g1(...), StepRobots
Actionslist_actions, get_action, get_library, ActionLibrary, ActionSpec, ActionCallActions
Natural languagecadenza.parser.CommandParserActions
SimulationSim, Scene, Box, Sphere, SlopeSimulation & scenes
Gym interfaceGymAdapter, ObservationGym adapter
Inference orchestrationSequential, ChainOfThought, InferenceOrchestratorInference orchestration
World-model stackcadenza.stack.run(...), register_world_model, WorldModelAdapter, ModalityInference stack
Deploygo1.deploy(...), go1.deploy_ssh(...), go1.deploy_ssh_bridge(...)Deploy

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How the pieces fit

Everything in the SDK is layered on one physics core. You can enter at any layer: fire a one-liner, script Steps, step a Gym loop, or hand the whole loop to a world model.

Quickstart

Run a robot and render a scene in a few lines.