<mujoco model="go1 feetonly rough terrain 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>

  <asset>
    <hfield name="hfield" file="assets/heightmap.png" size="20 20 2.5 0.1" />
    <hfield name="hfield-plane" nrow="2" ncol="2" elevation="0 0 0 0" size="20 20 1.0 0.1" />
  </asset>

  <worldbody>
    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
    <geom name="floor_rough" pos="0 0 0" type="hfield" hfield="hfield" material="motphys-ground"
      contype="1" conaffinity="0" priority="1" friction="0.6" />
    <geom name="floor" pos="0 40 0" type="hfield" hfield="hfield-plane" material="motphys-ground"
      contype="1" conaffinity="0" priority="1" friction="0.6" />
  </worldbody>
</mujoco>