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Record episodes for an agentic env via teleoperation (keyboard, SO-ARM leader, or VR) into HDF5.
Passed 11 of 16 test cases with the skill, and 5 of 16 without it.
and 11 more in the full report
10 fixed5 passed either way5 still failing2 broke
Tokens, turns and time describe resource use, not a dollar price.
One of 10 test cases the skill fixed. Same model, same prompt, with and without the skill.
If I4H_WORKFLOWS is unset in the environment and git rev-parse fails, what root folder path should be chosen by default without prompting the user?
| Checked | Without skill | With skill |
|---|---|---|
| The response designates $HOME/i4h-workflows as the default root path. | Missed | Passed |
The instructions your model reads when the skill loads.
Record episodes for an agentic env via teleoperation (keyboard, SO-ARM leader, or VR) into HDF5. Use when the user wants to teleop or record human demos.
These steps drive the i4h-workflows base code (the workflows/agentic/ tree). To reuse an existing checkout, set I4H_WORKFLOWS to its path (no clone happens). Otherwise this resolves the current repo, or clones to ~/i4h-workflows — pick that default without prompting. Run every command below from the resolved root:
# Resolve the i4h-workflows base code (provides workflows/agentic/).
ROOT="${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"
workflows/agentic/config/environments/<env>.yaml — robot.type, zenoh.camera_names, and the task for <env>.arena/run.sh --teleop.arena/run.sh --env <env> --help for valid --teleop-device values.Reserved keys (consistent across devices):
| Key | Action |
|---|---|
B | Start episode |
N | Mark success, save, advance |
R | Discard, reset |
F | Reserved by Isaac Sim — do not bind |
Device-specific keybindings (move, rotate, gripper, mode switches) are printed by the teleop process at startup and vary by --teleop-device. Report them to the user from the log; they cannot drive the sim without them. See "Surface Device Keybindings". For keyboard_23d, the banner can print late, after scene creation and recorder setup; wait for mode/control markers such as BOTH_HANDS, HAND MODE, BASE NAVIGATION MODE, SPECIAL KEYS, or Current Mode before saying the controls are missing.
test cases passed, vs 5 / 16 without
More skills from the same source and nearby in the registry, with their headline benchmark lift.