update docs

docs/source/tasks/humanoid/index.md

@@ -3,4 +3,34 @@
 [asset-badge]: https://img.shields.io/badge/download%20asset-yes-blue.svg
 [reward-badge]: https://img.shields.io/badge/dense%20reward-yes-green.svg
 
-Both real-world humanoids and the Mujoco humanoid are supported in ManiSkill, but they do not yet have any pre-built tasks for them. We are in the process of making some still.
+Both real-world humanoids and the Mujoco humanoid are supported in ManiSkill, and we are still in the process of adding more tasks
+
+
+## UnitreeG1PlaceAppleInBowl-v1
+![dense-reward][reward-badge]
+
+:::{dropdown} Task Card
+:icon: note
+:color: primary
+
+**Task Description:**
+Control the humanoid unitree G1 robot to grab an apple with its right arm and place it in a bowl to the side
+
+**Supported Robots: Unitree G1**
+
+**Randomizations:**
+- the bowl's xy position is randomized on top of a table in the region [0.025, 0.025] x [-0.025, -0.025]. It is placed flat on the table
+- the apple's xy position is randomized on top of a table in the region [0.025, 0.025] x [-0.025, -0.025]. It is placed flat on the table
+- the apple's z-axis rotation is randomized to a random angle
+
+**Success Conditions:**
+- the apple position is within 0.05m euclidean distance of the bowl's position.
+- the robot's right hand is kept outside the bowl and is above it by at least 0.125m.
+
+**Goal Specification:**
+- The bowl's 3D position
+:::
+
+<video preload="auto" controls="True" width="100%">
+<source src="https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/UnitreeG1PlaceAppleInBowl-v1_rt.mp4" type="video/mp4">
+</video>