Adds the Unitree G1 locomotion environment (#453)

Added Unitree G1 locomotion example

## Type of change

- New feature

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./isaaclab.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/features/environments.rst

@@ -146,6 +146,10 @@ Environments based on legged locomotion tasks.
     +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
     | |velocity-rough-h1|          | |velocity-rough-h1-link|                     | Track a velocity command on rough terrain with the Unitree H1 robot          |
     +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-g1|           | |velocity-flat-g1-link|                      | Track a velocity command on flat terrain with the Unitree G1 robot           |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-g1|          | |velocity-rough-g1-link|                     | Track a velocity command on rough terrain with the Unitree G1 robot          |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
 
 .. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py>`__
 .. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py>`__
@@ -173,6 +177,9 @@ Environments based on legged locomotion tasks.
 .. |velocity-flat-h1-link| replace:: `Isaac-Velocity-Flat-H1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py>`__
 .. |velocity-rough-h1-link| replace:: `Isaac-Velocity-Rough-H1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py>`__
 
+.. |velocity-flat-g1-link| replace:: `Isaac-Velocity-Flat-G1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py>`__
+.. |velocity-rough-g1-link| replace:: `Isaac-Velocity-Rough-G1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py>`__
+
 
 .. |velocity-flat-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_flat.jpg
 .. |velocity-rough-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_rough.jpg
@@ -189,6 +196,8 @@ Environments based on legged locomotion tasks.
 .. |velocity-flat-spot| image:: ../_static/tasks/locomotion/spot_flat.jpg
 .. |velocity-flat-h1| image:: ../_static/tasks/locomotion/h1_flat.jpg
 .. |velocity-rough-h1| image:: ../_static/tasks/locomotion/h1_rough.jpg
+.. |velocity-flat-g1| image:: ../_static/tasks/locomotion/g1_flat.jpg
+.. |velocity-rough-g1| image:: ../_static/tasks/locomotion/g1_rough.jpg
 
 Navigation
 ----------

source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/unitree.py

@@ -11,6 +11,7 @@ The following configurations are available:
 * :obj:`UNITREE_GO1_CFG`: Unitree Go1 robot with actuator net model for the legs
 * :obj:`UNITREE_GO2_CFG`: Unitree Go2 robot with DC motor model for the legs
 * :obj:`H1_CFG`: H1 humanoid robot
+* :obj:`G1_CFG`: G1 humanoid robot
 
 Reference: https://github.com/unitreerobotics/unitree_ros
 """
@@ -265,3 +266,121 @@ H1_MINIMAL_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1_mi
 
 This configuration removes most collision meshes to speed up simulation.
 """
+
+
+G1_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/G1/g1.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=8, solver_velocity_iteration_count=4
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.74),
+        joint_pos={
+            ".*_hip_pitch_joint": -0.20,
+            ".*_knee_joint": 0.42,
+            ".*_ankle_pitch_joint": -0.23,
+            ".*_elbow_pitch_joint": 0.87,
+            "left_shoulder_roll_joint": 0.16,
+            "left_shoulder_pitch_joint": 0.35,
+            "right_shoulder_roll_joint": -0.16,
+            "right_shoulder_pitch_joint": 0.35,
+            "left_one_joint": 1.0,
+            "right_one_joint": -1.0,
+            "left_two_joint": 0.52,
+            "right_two_joint": -0.52,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "legs": ImplicitActuatorCfg(
+            joint_names_expr=[
+                ".*_hip_yaw_joint",
+                ".*_hip_roll_joint",
+                ".*_hip_pitch_joint",
+                ".*_knee_joint",
+                "torso_joint",
+            ],
+            effort_limit=300,
+            velocity_limit=100.0,
+            stiffness={
+                ".*_hip_yaw_joint": 150.0,
+                ".*_hip_roll_joint": 150.0,
+                ".*_hip_pitch_joint": 200.0,
+                ".*_knee_joint": 200.0,
+                "torso_joint": 200.0,
+            },
+            damping={
+                ".*_hip_yaw_joint": 5.0,
+                ".*_hip_roll_joint": 5.0,
+                ".*_hip_pitch_joint": 5.0,
+                ".*_knee_joint": 5.0,
+                "torso_joint": 5.0,
+            },
+            armature={
+                ".*_hip_.*": 0.01,
+                ".*_knee_joint": 0.01,
+                "torso_joint": 0.01,
+            },
+        ),
+        "feet": ImplicitActuatorCfg(
+            effort_limit=20,
+            joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"],
+            stiffness=20.0,
+            damping=2.0,
+            armature=0.01,
+        ),
+        "arms": ImplicitActuatorCfg(
+            joint_names_expr=[
+                ".*_shoulder_pitch_joint",
+                ".*_shoulder_roll_joint",
+                ".*_shoulder_yaw_joint",
+                ".*_elbow_pitch_joint",
+                ".*_elbow_roll_joint",
+                ".*_five_joint",
+                ".*_three_joint",
+                ".*_six_joint",
+                ".*_four_joint",
+                ".*_zero_joint",
+                ".*_one_joint",
+                ".*_two_joint",
+            ],
+            effort_limit=300,
+            velocity_limit=100.0,
+            stiffness=40.0,
+            damping=10.0,
+            armature={
+                ".*_shoulder_.*": 0.01,
+                ".*_elbow_.*": 0.01,
+                ".*_five_joint": 0.001,
+                ".*_three_joint": 0.001,
+                ".*_six_joint": 0.001,
+                ".*_four_joint": 0.001,
+                ".*_zero_joint": 0.001,
+                ".*_one_joint": 0.001,
+                ".*_two_joint": 0.001,
+            },
+        ),
+    },
+)
+"""Configuration for the Unitree G1 Humanoid robot."""
+
+
+G1_MINIMAL_CFG = G1_CFG.copy()
+G1_MINIMAL_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/G1/g1_minimal.usd"
+"""Configuration for the Unitree G1 Humanoid robot with fewer collision meshes.
+
+This configuration removes most collision meshes to speed up simulation.
+"""

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/__init__.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import gymnasium as gym
+
+from . import agents, flat_env_cfg, rough_env_cfg
+
+##
+# Register Gym environments.
+##
+
+
+gym.register(
+    id="Isaac-Velocity-Rough-G1-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg,
+        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.G1RoughPPORunnerCfg,
+    },
+)
+
+
+gym.register(
+    id="Isaac-Velocity-Rough-G1-Play-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg_PLAY,
+        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.G1RoughPPORunnerCfg,
+    },
+)
+
+
+gym.register(
+    id="Isaac-Velocity-Flat-G1-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg,
+        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.G1FlatPPORunnerCfg,
+    },
+)
+
+
+gym.register(
+    id="Isaac-Velocity-Flat-G1-Play-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg_PLAY,
+        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.G1FlatPPORunnerCfg,
+    },
+)

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/agents/__init__.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from . import rsl_rl_cfg  # noqa: F401, F403

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/agents/rsl_rl_cfg.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from omni.isaac.lab.utils import configclass
+
+from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import (
+    RslRlOnPolicyRunnerCfg,
+    RslRlPpoActorCriticCfg,
+    RslRlPpoAlgorithmCfg,
+)
+
+
+@configclass
+class G1RoughPPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 24
+    max_iterations = 3000
+    save_interval = 50
+    experiment_name = "g1_rough"
+    empirical_normalization = False
+    policy = RslRlPpoActorCriticCfg(
+        init_noise_std=1.0,
+        actor_hidden_dims=[512, 256, 128],
+        critic_hidden_dims=[512, 256, 128],
+        activation="elu",
+    )
+    algorithm = RslRlPpoAlgorithmCfg(
+        value_loss_coef=1.0,
+        use_clipped_value_loss=True,
+        clip_param=0.2,
+        entropy_coef=0.008,
+        num_learning_epochs=5,
+        num_mini_batches=4,
+        learning_rate=1.0e-3,
+        schedule="adaptive",
+        gamma=0.99,
+        lam=0.95,
+        desired_kl=0.01,
+        max_grad_norm=1.0,
+    )
+
+
+@configclass
+class G1FlatPPORunnerCfg(G1RoughPPORunnerCfg):
+    def __post_init__(self):
+        super().__post_init__()
+
+        self.max_iterations = 1500
+        self.experiment_name = "g1_flat"
+        self.policy.actor_hidden_dims = [256, 128, 128]
+        self.policy.critic_hidden_dims = [256, 128, 128]

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from omni.isaac.lab.managers import SceneEntityCfg
+from omni.isaac.lab.utils import configclass
+
+from .rough_env_cfg import G1RoughEnvCfg
+
+
+@configclass
+class G1FlatEnvCfg(G1RoughEnvCfg):
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # change terrain to flat
+        self.scene.terrain.terrain_type = "plane"
+        self.scene.terrain.terrain_generator = None
+        # no height scan
+        self.scene.height_scanner = None
+        self.observations.policy.height_scan = None
+        # no terrain curriculum
+        self.curriculum.terrain_levels = None
+
+        # Rewards
+        self.rewards.track_ang_vel_z_exp.weight = 1.0
+        self.rewards.lin_vel_z_l2.weight = -0.2
+        self.rewards.action_rate_l2.weight = -0.005
+        self.rewards.dof_acc_l2.weight = -1.0e-7
+        self.rewards.feet_air_time.weight = 0.75
+        self.rewards.feet_air_time.params["threshold"] = 0.4
+        self.rewards.dof_torques_l2.weight = -2.0e-6
+        self.rewards.dof_torques_l2.params["asset_cfg"] = SceneEntityCfg(
+            "robot", joint_names=[".*_hip_.*", ".*_knee_joint"]
+        )
+        # Commands
+        self.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0)
+        self.commands.base_velocity.ranges.lin_vel_y = (-0.5, 0.5)
+        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
+
+
+class G1FlatEnvCfg_PLAY(G1FlatEnvCfg):
+    def __post_init__(self) -> None:
+        # post init of parent
+        super().__post_init__()
+
+        # make a smaller scene for play
+        self.scene.num_envs = 50
+        self.scene.env_spacing = 2.5
+        # disable randomization for play
+        self.observations.policy.enable_corruption = False
+        # remove random pushing
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from omni.isaac.lab.managers import RewardTermCfg as RewTerm
+from omni.isaac.lab.managers import SceneEntityCfg
+from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
+from omni.isaac.lab.utils import configclass
+
+import omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp as mdp
+from omni.isaac.lab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import (
+    LocomotionVelocityRoughEnvCfg,
+    RewardsCfg,
+)
+
+##
+# Pre-defined configs
+##
+from omni.isaac.lab_assets import G1_MINIMAL_CFG  # isort: skip
+
+
+@configclass
+class G1Rewards(RewardsCfg):
+    termination_penalty = RewTerm(func=mdp.is_terminated, weight=-200.0)
+    track_lin_vel_xy_exp = RewTerm(
+        func=mdp.track_lin_vel_xy_yaw_frame_exp,
+        weight=1.0,
+        params={"command_name": "base_velocity", "std": 0.5},
+    )
+    track_ang_vel_z_exp = RewTerm(
+        func=mdp.track_ang_vel_z_world_exp, weight=2.0, params={"command_name": "base_velocity", "std": 0.5}
+    )
+    feet_air_time = RewTerm(
+        func=mdp.feet_air_time_positive_biped,
+        weight=0.25,
+        params={
+            "command_name": "base_velocity",
+            "sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_ankle_roll_link"),
+            "threshold": 0.4,
+        },
+    )
+    feet_slide = RewTerm(
+        func=mdp.feet_slide,
+        weight=-0.1,
+        params={
+            "sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_ankle_roll_link"),
+            "asset_cfg": SceneEntityCfg("robot", body_names=".*_ankle_roll_link"),
+        },
+    )
+
+    # Penalize ankle joint limits
+    dof_pos_limits = RewTerm(
+        func=mdp.joint_pos_limits,
+        weight=-1.0,
+        params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"])},
+    )
+    # Penalize deviation from default of the joints that are not essential for locomotion
+    joint_deviation_hip = RewTerm(
+        func=mdp.joint_deviation_l1,
+        weight=-0.1,
+        params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*_hip_yaw_joint", ".*_hip_roll_joint"])},
+    )
+    joint_deviation_arms = RewTerm(
+        func=mdp.joint_deviation_l1,
+        weight=-0.1,
+        params={
+            "asset_cfg": SceneEntityCfg(
+                "robot",
+                joint_names=[
+                    ".*_shoulder_pitch_joint",
+                    ".*_shoulder_roll_joint",
+                    ".*_shoulder_yaw_joint",
+                    ".*_elbow_pitch_joint",
+                    ".*_elbow_roll_joint",
+                ],
+            )
+        },
+    )
+    joint_deviation_fingers = RewTerm(
+        func=mdp.joint_deviation_l1,
+        weight=-0.05,
+        params={
+            "asset_cfg": SceneEntityCfg(
+                "robot",
+                joint_names=[
+                    ".*_five_joint",
+                    ".*_three_joint",
+                    ".*_six_joint",
+                    ".*_four_joint",
+                    ".*_zero_joint",
+                    ".*_one_joint",
+                    ".*_two_joint",
+                ],
+            )
+        },
+    )
+    joint_deviation_torso = RewTerm(
+        func=mdp.joint_deviation_l1,
+        weight=-0.1,
+        params={"asset_cfg": SceneEntityCfg("robot", joint_names="torso_joint")},
+    )
+
+
+@configclass
+class TerminationsCfg:
+    """Termination terms for the MDP."""
+
+    time_out = DoneTerm(func=mdp.time_out, time_out=True)
+    base_contact = DoneTerm(
+        func=mdp.illegal_contact,
+        params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names="torso_link"), "threshold": 1.0},
+    )
+
+
+@configclass
+class G1RoughEnvCfg(LocomotionVelocityRoughEnvCfg):
+    rewards: G1Rewards = G1Rewards()
+    terminations: TerminationsCfg = TerminationsCfg()
+
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+        # Scene
+        self.scene.robot = G1_MINIMAL_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/torso_link"
+
+        # Randomization
+        self.events.push_robot = None
+        self.events.add_base_mass = None
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
+        self.events.base_external_force_torque.params["asset_cfg"].body_names = ["torso_link"]
+        self.events.reset_base.params = {
+            "pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
+            "velocity_range": {
+                "x": (0.0, 0.0),
+                "y": (0.0, 0.0),
+                "z": (0.0, 0.0),
+                "roll": (0.0, 0.0),
+                "pitch": (0.0, 0.0),
+                "yaw": (0.0, 0.0),
+            },
+        }
+
+        # Rewards
+        self.rewards.lin_vel_z_l2.weight = 0.0
+        self.rewards.undesired_contacts = None
+        self.rewards.flat_orientation_l2.weight = -1.0
+        self.rewards.action_rate_l2.weight = -0.005
+        self.rewards.dof_acc_l2.weight = -1.25e-7
+        self.rewards.dof_acc_l2.params["asset_cfg"] = SceneEntityCfg(
+            "robot", joint_names=[".*_hip_.*", ".*_knee_joint"]
+        )
+        self.rewards.dof_torques_l2.weight = -1.5e-7
+        self.rewards.dof_torques_l2.params["asset_cfg"] = SceneEntityCfg(
+            "robot", joint_names=[".*_hip_.*", ".*_knee_joint", ".*_ankle_.*"]
+        )
+
+        # Commands
+        self.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0)
+        self.commands.base_velocity.ranges.lin_vel_y = (-0.0, 0.0)
+        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
+
+
+@configclass
+class G1RoughEnvCfg_PLAY(G1RoughEnvCfg):
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # make a smaller scene for play
+        self.scene.num_envs = 50
+        self.scene.env_spacing = 2.5
+        self.episode_length_s = 40.0
+        # spawn the robot randomly in the grid (instead of their terrain levels)
+        self.scene.terrain.max_init_terrain_level = None
+        # reduce the number of terrains to save memory
+        if self.scene.terrain.terrain_generator is not None:
+            self.scene.terrain.terrain_generator.num_rows = 5
+            self.scene.terrain.terrain_generator.num_cols = 5
+            self.scene.terrain.terrain_generator.curriculum = False
+
+        self.commands.base_velocity.ranges.lin_vel_x = (1.0, 1.0)
+        self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
+        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
+        self.commands.base_velocity.ranges.heading = (0.0, 0.0)
+        # disable randomization for play
+        self.observations.policy.enable_corruption = False
+        # remove random pushing
+        self.events.base_external_force_torque = None
+        self.events.push_robot = None

source/standalone/demos/bipeds.py

@@ -37,6 +37,7 @@ from omni.isaac.lab.sim import SimulationContext
 ##
 from omni.isaac.lab_assets.cassie import CASSIE_CFG  # isort:skip
 from omni.isaac.lab_assets import H1_CFG  # isort:skip
+from omni.isaac.lab_assets import G1_CFG  # isort:skip
 
 
 def main():
@@ -60,11 +61,13 @@ def main():
     origins = torch.tensor([
         [0.0, 0.0, 0.0],
         [0.0, 1.0, 0.0],
+        [0.0, 2.0, 0.0],
     ])
     # Robots
     cassie = Articulation(CASSIE_CFG.replace(prim_path="/World/Cassie"))
     h1 = Articulation(H1_CFG.replace(prim_path="/World/H1"))
-    robots = [cassie, h1]
+    g1 = Articulation(G1_CFG.replace(prim_path="/World/G1"))
+    robots = [cassie, h1, g1]
 
     # Play the simulator
     sim.reset()