Record Teleop Demonstrations
Purpose
Run the workflow's declared teleop graph through the shared
so actions, state, cameras, segments, attempts, and outcomes use the normal HDF5 contract.
Instructions
- Resolve the base checkout and live teleop device contract.
- Choose a supported human-input device.
- Record in the foreground through .
- Inspect visible motion and HDF5 content.
Resolve support
bash
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 "$ROOT"
./run.sh list
./run.sh show <workflow> --mode teleop
Treat the resolver above as part of the skill contract: a hosted copy may run outside the base repository, so never assume the current checkout contains
.
selects the clone source. When
is unset, derive the fallback directory from that URL; set
only to reuse or choose a specific destination. Never replace an existing checkout.
Require
in the live mode list. Read the workflow builder, its scene manifest
override, and the embodiment manifest's
. Do not maintain a static support table in the skill.
Choose input
- Use the named device when supported.
- Otherwise use the workflow builder's default device.
- Keep interactive keyboard/leader/VR/bus sessions visible and in the foreground. Surface the device controls and require the human operator to complete the task.
- Never pretend to provide human input in an unattended shell.
Record
bash
./run.sh <workflow> --teleop <device> \
--episodes <N> --attempts 3 \
--record
Omit
to use the workflow default. Bare
writes
inside the launcher's automatic run directory. Read the absolute directory from the
line or
; do not recreate its timestamp in the shell. When a larger pipeline requires a caller-selected shared directory, pass
--run-dir "$RUN_DIR" --record demos.hdf5
; the launcher creates the directory and anchors the relative recording name inside it. An absolute
path remains supported.
Verify
Require the final
summary. Then inspect content:
bash
RUN_DIR="<absolute run_dir from run.json or launcher output>"
uv run --project tools/dataset i4h-dataset inspect "$RUN_DIR/demos.hdf5" --segments
uv run --project tools/dataset i4h-dataset actions "$RUN_DIR/demos.hdf5"
Visually confirm that the operator completes the requested task, robot motion matches the input device, and all expected cameras record the same behavior. Treat zero saved episodes, missing observations, absent action motion, or an unsuccessful task outcome as failure. Stop leftovers with
.
Troubleshooting
On device or width errors, compare the workflow teleop builder, Scene mode override, and embodiment devices.
Prerequisites
Require a workflow with
, a supported device, a working simulator, and a present operator for interactive input.
Limitations
Teleop records human input and requires an operator for interactive devices. Record autonomous rule-based Tasks with
instead.
Examples
Record 5 keyboard teleop demonstrations for locomanip tray pick and place.
Completion gate
Report workflow, mode/device, controls, requested/saved episodes, attempts, visual result, HDF5 path, dimensions/segments, and whether a human operator completed the task.