workflow-hdmi.md

Workflow: HDMI (Humanoid-Object Interaction)

The HDMI workflow integrates SPIDER with HDMI (Humanoid Manipulation) framework for humanoid robot manipulation with downstream sim2real RL training.

Prerequisites

Install HDMI Environment

Follow the official HDMI installation guide:

# Clone HDMI repository
git clone https://github.com/lecar-lab/hdmi.git
cd hdmi

# Install with uv (recommended)
uv sync

# Install SPIDER into HDMI environment
uv pip install --no-deps -e /path/to/spider

Running HDMI Workflow

Basic Example

cd /path/to/spider

# Run with default config (G1 humanoid, suitcase task)
python examples/run_hdmi.py
# OR refer to
./examples/run_hdmi.sh

Configuration Options

You can enable mjlab native viewer by setting viewer to hdmi.

Train RL

Write the motion as one HDMI reference motion by running the following command:

python examples/postprocess/read_to_hdmi.py