Config.ON_GAZEBO = false;
ROBOT_DOF        = 23;

% Robot configuration for WBT3.0
WBTConfigRobot           = WBToolbox.Configuration;
WBTConfigRobot.RobotName = 'icub';
WBTConfigRobot.UrdfFile  = 'model.urdf';
WBTConfigRobot.LocalName = 'WBT';

WBTConfigRobot.ControlBoardsNames = {'torso','left_arm','right_arm','left_leg','right_leg'};
WBTConfigRobot.ControlledJoints   = {'torso_pitch','torso_roll','torso_yaw', ...
                                     'l_shoulder_pitch','l_shoulder_roll','l_shoulder_yaw','l_elbow', ...
                                     'r_shoulder_pitch','r_shoulder_roll','r_shoulder_yaw','r_elbow', ...
                                     'l_hip_pitch','l_hip_roll','l_hip_yaw','l_knee','l_ankle_pitch','l_ankle_roll', ...
                                     'r_hip_pitch','r_hip_roll','r_hip_yaw','r_knee','r_ankle_pitch','r_ankle_roll'};
