<mujoco model="go1 dreamwaq flat scene">
  <include file="go1_motor_actuator.xml" />
  <include file="materials.xml" />
  <statistic center="0 0 0.1" extent="0.8" meansize="0.04" />
  <visual>
    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
    <rgba haze="0.15 0.25 0.35 1" />
    <global azimuth="120" elevation="-20" />
    <map force="0.01" />
    <scale forcewidth="0.3" contactwidth="0.5" contactheight="0.2" />
    <quality shadowsize="8192" />
  </visual>
  <worldbody>
    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
    <geom name="floor" pos="0 0 0" size="0 0 0.01" type="plane"
          material="motphys-ground" contype="1" conaffinity="0" priority="1"
          friction="0.6" condim="3" />
  </worldbody>
  <sensor>
    <contact name="FR_foot_contact" geom2="FR_foot" geom1="floor" data="force" num="1" />
    <contact name="FL_foot_contact" geom2="FL_foot" geom1="floor" data="force" num="1" />
    <contact name="RR_foot_contact" geom2="RR_foot" geom1="floor" data="force" num="1" />
    <contact name="RL_foot_contact" geom2="RL_foot" geom1="floor" data="force" num="1" />
  </sensor>
</mujoco>
