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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 — quadruped (Go1), humanoid (G1), and a 6-axis arm — 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.
  • Coordinate several robots on one goal over MCP.
  • Drive a CLI project’s mission with your own model.

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Install

Or get it transitively via a CLI source install with the gym extra:

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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:

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The API at a glance

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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.