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i4h-workflow-dataset-replay

Replays recorded HDF5 episodes inside Isaac Sim for visual verification.

3.2k|370|Updated Feb 25, 2026
Search Tags:#simulation#isaac sim#robotics#episode#replay#HDF5#isaac-for-healthcare
One-click install
npx skills add https://github.com/NVIDIA/skills --skill i4h-workflow-dataset-replay
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: i4h-workflow-dataset-replay
Source: https://github.com/NVIDIA/skills/tree/main/skills/i4h-workflow-dataset-replay
Command: npx skills add https://github.com/NVIDIA/skills --skill i4h-workflow-dataset-replay

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Verifying that a recorded robot demonstration episode is visually correct before conversion or training normally requires manually launching Isaac Sim with the right environment, recording path, and episode index. This Skill automates that replay workflow for Isaac for Healthcare (i4h) HDF5 recordings.

Core Features & Use Cases

  • HDF5 Episode Replay: Launches Isaac Sim replay of a recorded HDF5 episode via the i4h-workflows arena runner with the correct environment id.
  • Episode Selection: Maps ordinal requests like "second episode" to zero-based --episode-index values and lists candidate recordings when no path is given.
  • Use Case: After recording demonstrations with teleoperation or Mimic, ask your agent to "replay the second episode" and it resolves the latest HDF5 recording, sets up the run directory, and launches visual playback in Isaac Sim.

Quick Start

Ask your agent to replay the second episode of your latest scissor pick-and-place HDF5 recording in Isaac Sim.

Frequently Asked Questions about i4h-workflow-dataset-replay

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I replay an HDF5 recording in Isaac Sim?▼

Set HDF5_PATH to an absolute path of an existing .hdf5 recording and run the i4h-workflows arena run.sh script with --replay, the matching --env id, and a zero-based --episode-index. The skill resolves the repo, creates a run directory, and launches the replay.

How do I replay a specific episode from an HDF5 file?▼

Use the --episode-index flag with a zero-based index, so the second episode is index 1 and the first is index 0. The index must be within the number of episodes stored in the HDF5 file or the replay fails.

Why does HDF5 replay fail to load my recording?▼

Replay fails when HDF5_PATH is unset, relative, or points to a nonexistent file, because --replay resolves relative paths against runs/<env>/ rather than your working directory. Use an absolute path from the printed candidate list of recordings.

Can I replay a recording with a different environment than the one that produced it?▼

No, the --env id must match the environment that produced the HDF5 recording. Using a different env id causes mismatched or garbled playback inside Isaac Sim.

What are the limitations of HDF5 episode replay in Isaac Sim?▼

Replay is visual verification only and does not modify or expand the recording. It replays one episode per invocation, requires a prior workflow setup with an existing .venv, and runs inside Isaac Sim.

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