---

name: i4h-workflow-dataset-replay description: Replay a workflow HDF5 episode through its original Scene. Use for visual trajectory and recording verification; do not use for policy evaluation or LeRobot data. license: Apache-2.0 metadata: author: "Isaac for Healthcare Team isaac-for-healthcare-support@nvidia.com" version: "0.8.0" tags: - isaac-for-healthcare - i4h - dataset - replay - hdf5

Replay a Workflow Recording

Purpose

Replay the exact recorded action sequence through the matching workflow and inspect it visibly.

Instructions

1. Run the checkout resolver and select the exact HDF5.
2. Read the original workflow and requested episode.
3. Inspect action-contract compatibility.
4. Run the replay visibly in the foreground through completion.

Resolve the recording

export I4H_WORKFLOWS_REPO_URL="${I4H_WORKFLOWS_REPO_URL:-https://github.com/isaac-for-healthcare/i4h-workflows}"
I4H_REPO_DIR_NAME="${I4H_WORKFLOWS_REPO_URL%/}"
I4H_REPO_DIR_NAME="${I4H_REPO_DIR_NAME##*/}"
I4H_REPO_DIR_NAME="${I4H_REPO_DIR_NAME##*:}"
I4H_REPO_DIR_NAME="${I4H_REPO_DIR_NAME%.git}"
[ -n "$I4H_REPO_DIR_NAME" ] || { echo "Cannot derive a checkout name from I4H_WORKFLOWS_REPO_URL" >&2; exit 2; }
ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"
if [ ! -d "$ROOT/workflows/i4h_workflows" ]; then
  ROOT="${I4H_WORKFLOWS:-$HOME/$I4H_REPO_DIR_NAME}"
  [ -d "$ROOT/workflows/i4h_workflows" ] || git clone "$I4H_WORKFLOWS_REPO_URL" "$ROOT"
fi
export I4H_WORKFLOWS="$ROOT"
cd "$ROOT"
find runs -name '*.hdf5' -type f -printf '%T@ %p\n' | sort -nr | head

Treat the resolver above as part of the skill contract: a hosted copy may run outside the base repository, so never assume the current checkout contains workflows/i4h_workflows. I4H_WORKFLOWS_REPO_URL selects the clone source. When I4H_WORKFLOWS is unset, derive the fallback directory from that URL; set I4H_WORKFLOWS only to reuse or choose a specific destination. Never replace an existing checkout.

Use an explicit or current-chain recording first. Otherwise select the newest plausible HDF5 and state that choice. Never substitute an older file after a failed recording.

Interpret natural ordinals as zero-based indices: first is 0, second is 1.

Inspect before launch

HDF5_PATH=/absolute/path/to/recording.hdf5
uv run --project tools/dataset i4h-dataset inspect "$HDF5_PATH" --segments

Resolve the original workflow from recording metadata and conversation context. Confirm the requested episode exists and its action width matches the workflow's replay Scene contract.

Replay

./run.sh <workflow> --replay "$HDF5_PATH" --episode <zero-based-index>

Keep the visible simulator and command in the foreground. Poll yielded execution until run.sh exits; do not detach or return while replay is still running.

Verify

Observe the complete trajectory, relevant objects, camera views, segment boundaries, and final status. If motion diverges, report the first mismatching segment or action-contract error. Do not change workflow, episode, or recording silently.

Troubleshooting

On launch failure, verify workflow metadata, episode existence, and action width. On divergence, report the first mismatching segment.

Prerequisites

Require the original workflow assets and a readable episode whose action width matches replay mode.

Limitations

Replay verifies stored actions in one Scene; it does not evaluate a learned policy or guarantee transfer to another Scene.

Examples

• Replay the second episode. → select the current recording, map “second” to index 1, and observe the visible replay.

Completion gate

Report workflow, HDF5 path, episode index, frame/segment count, action width, exit/final status, and visible agreement or first mismatch.