Counterpart — Choreography for Robots

From Idea to Performance

A streamlined pipeline that takes your creative vision to the stage.

Sketch

Draw motion paths freehand. The Sequence Sketcher converts your drawings into robot motion.

Design

Refine your movements in the Dance Designer. Adjust timing, smooth transitions, and add precision where it matters.

Simulate

Test your choreography on a simulated robot for rapid preview and iteration.

Perform

Bundle your show and hit play. Real-time control keeps the robot in perfect sync with the music.

Your Creative Toolkit

Purpose-built tools for every stage of robot choreography.

Dance Designer

Precision Waypoint Editing

Place waypoints on a visual timeline, adjust joint angles with interactive sliders, and fine-tune motion curves. The Dance Designer gives you frame-level control over every movement in your choreography.

Visual timeline with drag-and-drop
Real-time 3D preview
Import from UR teaching pendant
Synchronize lights with integrated OSC commands

✎ Dance Designer

Sequence Sketcher

Draw Motion, Forget Code

Sketch a path on the canvas and watch the robot follow it. The Sequence Sketcher makes it easy to explore your ideas visually.

Freehand canvas drawing
Automatic IK solving
Outputs integrate seamlessly into Dance Designer

✒ Sequence Sketcher

Performance Playback

Music-Synchronized Performance

Load a show bundle, press play, and watch your choreography come to life in perfect sync with the music. Targets real robots, simulators, or the built-in 3D viewer.

Frame-accurate audio sync
Multi-target playback

▶ Performance Playback

Everything You Need to Keep Exploring

We’re constantly adding new ways to explore and design robot dance.

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Motion Tracking

Capture human movement via webcam and map it onto the robot’s joint space in real time.

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MuJoCo Simulation

Full physics simulation powered by MuJoCo. Test choreography with accurate dynamics before going live.

📁

Show Management

Bundle audio, waypoints, and cue files into portable show packages. One click to load, one click to perform.

🎬

Render UI

Record high-quality video renders of your choreography for sharing and review.

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File Converter

Import programs directly from the UR teaching pendant and convert them into editable waypoint sequences.

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3D Viewer

Preview your choreography in an interactive 3D view without connecting to a robot or simulator.

Ready to Choreograph?

Download Counterpart and start creating robot performances today.

Download for macOS

Requires macOS 14+ · Apple Silicon · Free for non-commercial use

IMPORTANT: Please read carefully before downloading.

By downloading and using Counterpart ("the Software"), you acknowledge and agree to the following terms:

License & Commercial Use

The Software is provided free of charge for non-commercial use only. Any commercial use of the Software—including but not limited to paid performances, corporate installations, commercial productions, or revenue-generating activities—requires a commercial license from Crossed Wires Studio. To obtain a commercial license, contact [email protected].

Assumption of Risk

The Software is designed to control Universal Robots UR20 industrial robotic arms. Industrial robots are inherently dangerous and capable of causing serious injury, death, or property damage. You assume all risks associated with operating, programming, or being in proximity to robots controlled by this Software.

Release of Liability

To the fullest extent permitted by law, you release and hold harmless Crossed Wires Studio, its owners, employees, contractors, and affiliates from any and all claims, damages, losses, liabilities, costs, and expenses (including legal fees) arising from or related to your use of the Software, including but not limited to:

Personal injury or death
Property damage
Equipment malfunction or damage
Data loss
Production downtime or business interruption

Software Provided "As Is"

THE SOFTWARE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT. CROSSED WIRES STUDIO MAKES NO WARRANTY THAT THE SOFTWARE WILL BE ERROR-FREE, UNINTERRUPTED, OR FREE OF HARMFUL COMPONENTS.

User Responsibility

You are solely responsible for:

Ensuring all safety protocols and regulations are followed when operating robots
Maintaining proper safety equipment, barriers, and emergency stop systems
Complying with all applicable local, national, and international safety standards
Training all personnel who may be in proximity to robot operations
Verifying all robot movements in simulation before executing on real hardware

Limitation of Liability

IN NO EVENT SHALL CROSSED WIRES STUDIO BE LIABLE FOR ANY INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL, OR PUNITIVE DAMAGES, REGARDLESS OF THE CAUSE OF ACTION OR THEORY OF LIABILITY, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

Governing Law

These terms shall be governed by and construed in accordance with applicable law. If any provision is found to be unenforceable, the remaining provisions shall remain in effect.

Choreography for Robots