diff --git a/tools/machine-learning/mujoco/model/nao.xml b/tools/machine-learning/mujoco/model/nao.xml
index cbad454c11..dafaef14c7 100644
--- a/tools/machine-learning/mujoco/model/nao.xml
+++ b/tools/machine-learning/mujoco/model/nao.xml
@@ -155,6 +155,16 @@
 
                   <inertial pos="0.02542 0.0033 -0.03239" mass="0.17184" fullinertia="269442.9e-9 644342.28e-9 525755.35e-9 -5696.02e-9 139379.2e-9 18741.43e-9"/>
                   <joint name="LAnkleRoll" axis="1 0 0" range="-22.79 44.06" limited="true"/>
+
+
+                  <site name="LFootFSRBackLeft" pos="-0.035 0.028 -0.031" size="0.015"  type="sphere"/>
+                  <geom name="LFootFSRBackLeft" pos="-0.035 0.028 -0.031" size="0.015" type="sphere"/>
+                  <site name="LFootFSRBackRight" pos="-0.035 -0.017 -0.031" size="0.015" type="sphere"/>
+                  <geom name="LFootFSRBackRight" pos="-0.035 -0.017 -0.031" size="0.015" type="sphere" />
+                  <site name="LFootFSRFrontLeft" pos="0.075 0.0225 -0.031" size="0.015" type="sphere"/>
+                  <geom name="LFootFSRFrontLeft" pos="0.075 0.0225 -0.031" size="0.015" type="sphere" />
+                  <site name="LFootFSRFrontRight" pos="0.075 -0.0225 -0.031" size="0.015" type="sphere"/>
+                  <geom name="LFootFSRFrontRight" pos="0.075 -0.0225 -0.031" size="0.015" type="sphere" />
                 </body>
               </body>
             </body>
@@ -204,6 +214,16 @@
 
                   <inertial pos="0.02542 -0.0033 -0.03239" mass="0.17184" fullinertia="269303.1e-9 643474.47e-9 525034.16e-9 5874.62e-9 139133.06e-9 -18848.77e-9"/>
                   <joint name="RAnkleRoll" axis="1 0 0" range="-44.06 22.8" limited="true"/>
+
+
+                  <site name="RFootFSRBackLeft" pos="-0.035 0.017 -0.031" size="0.015"  type="sphere"/>
+                  <geom name="RFootFSRBackLeft" pos="-0.035 0.017 -0.031" size="0.015" type="sphere"/>
+                  <site name="RFootFSRBackRight" pos="-0.035 -0.028 -0.031" size="0.015" type="sphere"/>
+                  <geom name="RFootFSRBackRight" pos="-0.035 -0.028 -0.031" size="0.015" type="sphere" />
+                  <site name="RFootFSRFrontLeft" pos="0.075 0.0225 -0.031" size="0.015" type="sphere"/>
+                  <geom name="RFootFSRFrontLeft" pos="0.075 0.0225 -0.031" size="0.015" type="sphere" />
+                  <site name="RFootFSRFrontRight" pos="0.075 -0.0225 -0.031" size="0.015" type="sphere"/>
+                  <geom name="RFootFSRFrontRight" pos="0.075 -0.0225 -0.031" size="0.015" type="sphere" />
                 </body>
               </body>
             </body>
@@ -397,6 +417,15 @@
     <jointpos name="RElbowYaw" joint="RElbowYaw"/>
     <jointpos name="RElbowRoll" joint="RElbowRoll"/>
     <jointpos name="RWristYaw" joint="RWristYaw"/>
+
+    <touch name="RFootFSRBackLeft" site="RFootFSRBackLeft"/>
+    <touch name="RFootFSRBackRight" site="RFootFSRBackRight"/>
+    <touch name="RFootFSRFrontLeft" site="RFootFSRFrontLeft"/>
+    <touch name="RFootFSRFrontRight" site="RFootFSRFrontRight"/>
+    <touch name="LFootFSRBackLeft" site="LFootFSRBackLeft"/>
+    <touch name="LFootFSRBackRight" site="LFootFSRBackRight"/>
+    <touch name="LFootFSRFrontLeft" site="LFootFSRFrontLeft"/>
+    <touch name="LFootFSRFrontRight" site="LFootFSRFrontRight"/>
   </sensor>
 
   <keyframe>