Contact Model for Human Walking Simulation

[AliForo]

Hi everyone,

I'm currently working on a project involving human walking simulations in MuJoCo, and I'm trying to determine the most suitable contact model for this purpose.
I would greatly appreciate any insights or recommendations from the community regarding:

Which contact model is generally preferred for simulating human walking in MuJoCo and why?
Are there any specific considerations or trade-offs I should be aware of when choosing a model?
For the recommended model, are there any tips for parameter tuning to achieve realistic and stable walking behavior?

Any advice or experiences you could share would be incredibly helpful!
Thank you in advance for your support.