go2_rl_robotlab/resources/go2/stairs.xml

<mujoco model="stairs">
  <include file="go2.xml" />

  <statistic center="0 0 0.1" extent="0.8" />

  <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="-130" elevation="-20" />
  </visual>
  <default>
    <!-- Scene-local terrain defaults: applies to the floor and stair boxes below, not the included robot. -->
    <geom friction="1.0 0.005 0.0001" contype="1" conaffinity="1" condim="3" solref="0.02 1" />
  </default>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
  </asset>

  <worldbody>
    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"
          friction="1.0 0.005 0.0001" contype="1" conaffinity="1" condim="3" solref="0.02 1" />
    
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</mujoco>