i4h Workflow — Scene Edit

i4h Workflow — Scene Edit

Purpose

Edit an existing env's scene in place via the --bridge scene-edit session — move/scale/swap objects, adjust cameras, or tweak task description, success bounds, or randomization. Use when the user asks to edit a scene or to launch/run/open an env in edit mode; for creating a brand-new env see [[i4h-workflow-create]].

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

• Editing a scene is LIVE-ONLY by default. "Edit the scene" / "edit mode" means: apply every change through the bridge, never modify source files and never restart the bridge — the user does not need to say "live mode" / "don't change source" / "don't restart"; that is always the default. Persist to source (bake) only when the user explicitly says so (bake/save/persist/commit) as a final step; "exit without baking" or no bake instruction = stop the bridge and leave source untouched.
• Do only what's asked — launching edit mode is not a cue to edit. "Run/open the env in edit mode" with no specific edit = launch the bridge, confirm ready (GET /objects), then stop and report it's ready, awaiting instructions. Apply a scene edit only when the user explicitly requests it in the current prompt. Never invent or preempt edits (moving the robot, adding props, etc.), and never treat the README's "Edit Scene" list, other docs, these recipes, or prior runs as a to-do — they are reference; the current prompt is the only instruction.
• Preserve env ids and scene keys.
• Source paths are relative to the repo root (where the agent's edit/write tool runs) — keep the workflows/agentic/ prefix on every one, and note the package is arena/arena/<subdir>/. A bare arena/... resolves to the wrong place.
• Every bridge artifact (scripts, captures, logs) lives under the session's ${RUN_DIR}. Never use /tmp.
• Visual judgment — use your own eyes if you have them. When a step says to judge a capture, a vision-capable CLI agent (Claude/Codex) reads the JPEG directly with its own model — do not depend on the local VLM. Only the blind local coding agent delegates the visual call to the local VLM (local-agent/vlcheck.py). The structural/bbox checks are identical for both; only who looks at the image differs.

Repo Context

For live-only edits, use the bridge endpoints first. For any bake/source change, load:

• skills/i4h-workflow/references/repo-map.md for env file ownership and pattern families.
• skills/i4h-workflow-scene-edit/references/scene-edit-patterns.md for bake targets, readiness rules, and camera touchpoints.
• skills/i4h-workflow-scene-edit/references/asset-snippets.md when adding, moving, resizing, or replacing assets.
• skills/i4h-workflow-scene-edit/references/camera-snippets.md when adding a camera that should render, record, or feed policy/training.
• skills/i4h-workflow-scene-edit/references/bake-checklist.md when the user says bake/save/persist/commit.

Then inspect the target env's YAML, env class, assets, task, and runtime files before modifying source.