/i4h-workflow-scene-edit

name: i4h-workflow-scene-edit
description: Edit an existing workflow Scene or task contract. Use for assets, layout, cameras, randomization, task text, or success rules; do not use to create a new workflow.
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
    - isaac-sim
    - scene-authoring

Edit an i4h Workflow Scene

Purpose

Iterate on an existing Scene in one live simulator session, and persist the confirmed state only when explicitly asked to bake, save, or persist.

Instructions

1. Run the checkout resolver and inspect target ownership. 2. Start or reuse one bridge-backed live-authoring session by default and capture a visible baseline. 3. Read the minimal upstream guidance and apply each requested edit as its own observable live-stage transaction without changing source. 4. On an explicit bake/save/persist instruction, export the accumulated live state, inspect its resolved authoring facts, and have the coding agent edit the smallest owning sources. 5. Keep the session running for further prompts until the user explicitly says stop or exit. 6. Run static, persisted-visible, and affected dynamic validation when baking.

Resolve and inspect

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"
./run.sh list
./run.sh show <workflow>

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.

Read `DESIGN.md`, the target workflow, Scene Python, scene manifest, embodiment manifest, and relevant task manifests. Use `$ROOT/skills/i4h-workflow/references/repo-map.md` to resolve ownership.

For a G1 face, walk, reach, or collision-sensitive success contract, read `references/g1-reach-and-contact.md`. Reuse its Tasks and Scene-owned footprint interface; do not generate workflow-specific locomotion helpers or hardcode object extents in the Workflow.

An open/run request without an edit means `./run.sh <workflow> --idle`; do not invent source changes. An edit-scene request always means start or reuse `./run.sh <workflow> --live` unless the user explicitly requests offline/no-live operation. Live authoring is the default and does not require confirmation. “Save,” “persist,” or “bake” means serialize the accumulated live-stage edits into their owning sources; without one of those words, leave source untouched. “Stop” or “exit” closes the session; if persistence was not requested, discard the live-only edits. Do not stop merely because one edit prompt completed.

Before adding or resizing an asset that already appears in a maintained scene, read `references/existing-scene-assets.md`. Reuse its known USD identity, authored scale, support height, physics role, and embodiment convention instead of rediscovering them from the raw USD. Treat owning Python as source of truth and use visual-language inspection only for bounded scene-specific refinement after the known baseline is visible.

Establish a visible baseline

Open the existing Scene as one persistent live-authoring session. Use the bridge only when `I4H_LOCAL_AGENT=1`: Local Agent commands share one serialized shell, so a foreground `--live` command would block every later edit transaction.

I4H_RUN_DIR="$(pwd)/runs/<workflow>/$(date +%Y%m%d_%H%M%S)"
if [ "${I4H_LOCAL_AGENT:-0}" = 1 ] && [ -x ./local-agent/bridge.sh ]; then
  ./local-agent/bridge.sh start <workflow> "$I4H_RUN_DIR"
else
  ./run.sh <workflow> --live --run-dir "$I4H_RUN_DIR"
fi

The fallback `./run.sh <workflow> --live` must run through the host agent's persistent/yieldable foreground-session mechanism. Never launch that fallback as an ordinary blocking shell call and wait for it to exit before editing.

`--live` resolves the workflow's declared `idle` mode, enables `isaacsim.code_editor.python_server` on port 8226, and keeps the simulator open until explicitly stopped. Wait for port 8226, then use the pinned upstream `isaac-sim-remote` client to inspect and modify the running stage. Keep every ordinary edit only in that live stage; do not change owning source yet. Accumulate later edit prompts in the same session. Only “bake,” “save,” or “persist” authorizes writing the confirmed live values into source. After baking, restart through `run.sh`, verify the persisted result matches the live stage, and stop when requested. An offline source edit followed by a reopen is not live authoring.

Preserve the live interpreter experience

Treat a compound prompt as an ordered stream of edits, not as one batch script. Run one bridge transaction for one user-visible operation, wait for its viewport update, inspect its result, and only then apply the next operation. For example, adding a table, two tools, two trays, and a robot is six live transactions. Never hide all requested edits inside one remote Python file or patch owning source while the user is waiting for the stage to change.

Use the one-operation helper from the w