<mujoco model="go2 feetonly flat terrain scene">
  <include file="go2_mjx.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>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.4314 0.5294 0.6431" rgb2="0 0 0" width="512" height="512"/>
    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.4314 0.5294 0.6431" rgb2="0.8157 0.8549 0.9059"
      markrgb="0.8 0.8 0.8" width="300" height="300"/>
    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="1 1" reflectance="0.2"/>
  </asset>

  <worldbody>
      <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
      <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1" conaffinity="0" priority="1"
        friction="0.6" condim="3"/>
  </worldbody>
  
  <keyframe>
    <key name="home"
      qpos="
      0 0 0.278
      1 0 0 0
      0.1 0.9 -1.8
      -0.1 0.9 -1.8
      0.1 0.9 -1.8
      -0.1 0.9 -1.8"
      ctrl="0.1 0.9 -1.8 -0.1 0.9 -1.8 0.1 0.9 -1.8 -0.1 0.9 -1.8"/>
  </keyframe>

</mujoco>
