unitree_go1/scene_go1.xml

<mujoco model="go1 feetonly flat terrain scene">
  <include file="go1.xml"/>

  <statistic center="0 0 0.1" extent="0.8" meansize="0.04"/>

  <visual>
    <headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1"/>
    <rgba force="1 0 0 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="1 1 1" rgb2="1 1 1" width="800" height="800"/>
    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="0 0 0"
      width="300" height="300"/>
    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0"/>
  </asset>

  <worldbody>
    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1" conaffinity="0" priority="1"
      friction="0.6" condim="3"/>
  </worldbody>

  <sensor>
    <contact name="FR_floor_found" geom1="FR" geom2="floor" reduce="mindist" num="1" data="found"/>
    <contact name="FL_floor_found" geom1="FL" geom2="floor" reduce="mindist" num="1" data="found"/>
    <contact name="RL_floor_found" geom1="RL" geom2="floor" reduce="mindist" num="1" data="found"/>
    <contact name="RR_floor_found" geom1="RR" geom2="floor" reduce="mindist" num="1" data="found"/>
  </sensor>

  <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"/>
    <key name="home_higher" qpos="0 0 0.31 1 0 0 0 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"
      ctrl="0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"/>
    <key
    name="footstand"
    qpos='
    0 0 0.54
    0.8 0 -0.8 0
    0 0.82 -1.6 0 0.82 -1.68 0 1.82 -1.16 0.0 1.82 -1.16'
    ctrl='0 0.82 -1.6 0 0.82 -1.68 0 1.82 -1.16 0.0 1.82 -1.16'/>
    <key name="handstand"
      qpos="0 0 0.54
      0.8 0 0.8 0
      0 -0.686 -1.16
      0 -0.686 -1.16
      0 1.7 -1.853
      0 1.7 -1.853"
      ctrl="0 -0.686 -1.16 0 -0.686 -1.16 0 1.7 -1.853 0 1.7 -1.853"/>
    <key name="pre_recovery"
      qpos="-0.0318481 -0.000215369 0.0579031 1 -2.70738e-05 6.06169e-05 0.000231261 -0.352275 1.18554 -2.80738 0.360892 1.1806 -2.80281 -0.381197 1.16812 -2.79123 0.391054 1.1622 -2.78576"
      ctrl="-0.352275 1.18554 -2.80738 0.360892 1.1806 -2.80281 -0.381197 1.16812 -2.79123 0.391054 1.1622 -2.78576"/>
  </keyframe>
</mujoco>