<mujoco model="ostrich_legs_torque">
    <include file="shared.xml"/>
    <include file="bones/assets.xml"/>
    <default>
        <motor ctrllimited="true" ctrlrange="-1 1"/>
    </default>

    <worldbody>
        <geom name="floor" type="plane" conaffinity="1" size="50 50 0.2" material="grid" pos="0 0 0" zaxis="0 0 1"/>

        <body name="ostrich" pos="0 0 1.05">
            <camera name="side" mode="trackcom" pos="0 -3.5 1" euler="-5 0 0"/>
            <camera name="back" mode="trackcom" pos="-3.5 0 1.3" xyaxes="0 -1 0 1 0 3"/>
            <light name="top" mode="trackcom" exponent="10" cutoff="45" ambient="0 0 0" pos="0 0 5" directional="false"/>

            <joint name="root_x" type="slide" pos="0 0 0" axis="1 0 0" limited="false"/>
            <joint name="root_y" type="slide" pos="0 0 0" axis="0 1 0" limited="false"/>
            <joint name="root_z" type="slide" pos="0 0 0" axis="0 0 1" limited="false"/>
            <joint name="root_rot_x" pos="0 0 0" axis="1 0 0" limited="false"/>
            <joint name="root_rot_y" pos="0 0 0" axis="0 1 0" limited="false"/>
            <joint name="root_rot_z" pos="0 0 0" axis="0 0 1" limited="false"/>

            <include file="bones/legs.xml"/>
            <include file="bones/torso.xml"/>
        </body>
    </worldbody>

    <include file="actuators/legs_torque.xml"/>

    <sensor>
        <subtreelinvel name="torso_subtreelinvel" body="ostrich"/>
        <subtreecom name="body_com" body="ostrich"/>
    </sensor>
</mujoco>
