/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"
  verification-request: "2026-09-21"
  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

Before resolving the checkout, use the maintained repository below or an alternative already selected by the user or trusted project configuration. Check an existing checkout's origin and working-tree changes before executing its scripts; an inherited environment variable alone does not establish trust in an alternative source. Honor any requested revision and preserve local changes. If the source is unexpected, stop and resolve it before cloning or launching.

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" "$ROOT" || exit 2
fi
[ -d "$ROOT/workflows/i4h_workflows" ] && [ -x "$ROOT/run.sh" ] || { echo "Incomplete workflow checkout: $ROOT" >&2; exit 2; }
export I4H_WORKFLOWS="$ROOT"
cd "$ROOT" || exit 2
./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 for at most `${I4H_AGENT_BRIDGE_TIMEOUT:-900}` seconds (matching the bridge startup default), stopping sooner if the launcher exits. On timeout, report the run log and bridge blocker, stop only this failed session, and use the documented offline fallback only for work already authorized; source persistence still requires bake/save/persist. Once ready, use the pinned upstream `isaac-sim-remote`