i4h Workflow — Replay Dataset

i4h Workflow — Replay Dataset

Purpose

Replay a recorded HDF5 episode inside Isaac Sim for visual verification. Use when the user asks to replay, play back, or step through an HDF5 recording.

Base Code

These steps drive the i4h-workflows base code (the workflows/agentic/ tree). To reuse an existing checkout, set I4H_WORKFLOWS to its path (no clone happens). Otherwise this resolves the current repo, or clones to ~/i4h-workflows — pick that default without prompting. Run every command below from the resolved root:

# Resolve the i4h-workflows base code (provides workflows/agentic/).
ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"
if [ ! -d "$ROOT/workflows/agentic" ]; then
  ROOT="${I4H_WORKFLOWS:-$HOME/i4h-workflows}"
  [ -d "$ROOT/workflows/agentic" ] || git clone https://github.com/isaac-for-healthcare/i4h-workflows "$ROOT"
fi
export I4H_WORKFLOWS="$ROOT"; cd "$ROOT"

Basics

• Env config (source of truth): workflows/agentic/config/environments/<env>.yaml — the <env> scene, robot, and cameras Arena replays against.
• Replay runs arena/run.sh --replay against the env that produced the HDF5.
• Use it to verify visual correctness before conversion or training.
• Interpret ordinal wording as zero-based episode indices: "first episode" -> 0, "second episode" -> 1, etc.

Run

Run the steps below in order. Each step is a separate bash call; variables persist in the local agent's tmux session.

Step 1 — setup and resolve HDF5

REPO_ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"; [ -d "$REPO_ROOT/workflows/agentic" ] || REPO_ROOT="$HOME/i4h-workflows"
ENV_ID=scissor_pick_and_place
RUNS_ROOT="${REPO_ROOT}/workflows/agentic/runs"
EPISODE_INDEX="${EPISODE_INDEX:-0}"  # For "Replay second episode", set EPISODE_INDEX=1.

# Point HDF5_PATH at a real recording (absolute path). Recordings come from teleop, mimic, or