diff --git a/src/SpringPlugin.cc b/src/SpringPlugin.cc
index 487dd25a0f965cdeb3048da3125e6fae053afc56..957c8b5ee6facd92b6a1c8ac823a40bbab9470db 100644
--- a/src/SpringPlugin.cc
+++ b/src/SpringPlugin.cc
@@ -13,7 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
-*/
+ */
 
 #include "gazebo/physics/physics.hh"
 #include "SpringPlugin.hh"
@@ -24,19 +24,15 @@ using namespace gazebo;
 GZ_REGISTER_MODEL_PLUGIN(SpringPlugin)
 
 /////////////////////////////////////////////////
-SpringPlugin::SpringPlugin()
-{
-}
+SpringPlugin::SpringPlugin() {}
 
 /////////////////////////////////////////////////
-void SpringPlugin::Load(physics::ModelPtr lmodel,
-                           sdf::ElementPtr lsdf)
-{
+void SpringPlugin::Load(physics::ModelPtr lmodel, sdf::ElementPtr lsdf) {
   this->model = lmodel;
 
   // hardcoded params for this test
   if (!lsdf->HasElement("joint_spring"))
-    ROS_ERROR_NAMED("SpringPlugin","No field joint_spring for SpringPlugin");
+    ROS_ERROR_NAMED("SpringPlugin", "No field joint_spring for SpringPlugin");
   else
     this->jointExplicitName = lsdf->Get<std::string>("joint_spring");
 
@@ -44,30 +40,22 @@ void SpringPlugin::Load(physics::ModelPtr lmodel,
 
   this->kdExplicit = lsdf->Get<double>("kd");
 
-  ROS_INFO_NAMED("SpringPlugin",
-                 "Loading joint : %s kp: %f kd: %f",
-                 this->jointExplicitName.c_str(),
-                 this->kpExplicit,
+  ROS_INFO_NAMED("SpringPlugin", "Loading joint : %s kp: %f kd: %f", this->jointExplicitName.c_str(), this->kpExplicit,
                  this->kdExplicit);
 }
 
 /////////////////////////////////////////////////
-void SpringPlugin::Init()
-{
+void SpringPlugin::Init() {
   this->jointExplicit = this->model->GetJoint(this->jointExplicitName);
 
   /*  this->jointImplicit->SetStiffnessDamping(0, this->kpImplicit,
       this->kdImplicit); */
 
-  this->updateConnection = event::Events::ConnectWorldUpdateBegin(
-          boost::bind(&SpringPlugin::ExplicitUpdate, this));
+  this->updateConnection = event::Events::ConnectWorldUpdateBegin(boost::bind(&SpringPlugin::ExplicitUpdate, this));
 }
 
-
-
 /////////////////////////////////////////////////
-void SpringPlugin::ExplicitUpdate()
-{
+void SpringPlugin::ExplicitUpdate() {
 #if GAZEBO_MAJOR_VERSION < 9
   common::Time currTime = this->model->GetWorld()->GetSimTime();
 #else
@@ -77,9 +65,12 @@ void SpringPlugin::ExplicitUpdate()
   common::Time stepTime = currTime - this->prevUpdateTime;
   this->prevUpdateTime = currTime;
 
+#if GAZEBO_MAJOR_VERSION < 9
   double pos = this->jointExplicit->GetAngle(0).Radian();
+#else
+  double pos = this->jointExplicit->Position(0);
+#endif
   double vel = this->jointExplicit->GetVelocity(0);
-  double force = -this->kpExplicit * pos
-                 -this->kdExplicit * vel;
+  double force = -this->kpExplicit * pos - this->kdExplicit * vel;
   this->jointExplicit->SetForce(0, force);
 }
diff --git a/src/SpringPlugin.hh b/src/SpringPlugin.hh
index 586fa211a269d0d350550935ab237e4d472380fa..19d5bbd774ffa12958637f960e6486bfb0c3c4f2 100644
--- a/src/SpringPlugin.hh
+++ b/src/SpringPlugin.hh
@@ -13,7 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
-*/
+ */
 #ifndef __GAZEBO_SPRING_TEST_PLUGIN_HH__
 #define __GAZEBO_SPRING_TEST_PLUGIN_HH__
 
@@ -23,31 +23,42 @@
 #include "gazebo/physics/physics.hh"
 #include "gazebo/util/system.hh"
 
-namespace gazebo
-{
-  class GAZEBO_VISIBLE SpringPlugin : public ModelPlugin
-  {
-    public: SpringPlugin();
-    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
-    public: virtual void Init();
+namespace gazebo {
+class GAZEBO_VISIBLE SpringPlugin : public ModelPlugin {
+ public:
+  SpringPlugin();
 
-    private: void ExplicitUpdate();
+ public:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
 
-    private: event::ConnectionPtr updateConnection;
+ public:
+  virtual void Init();
 
-    private: physics::ModelPtr model;
+ private:
+  void ExplicitUpdate();
 
-    private: common::Time prevUpdateTime;
+ private:
+  event::ConnectionPtr updateConnection;
 
-    private: physics::JointPtr jointExplicit;
-    private: std::string jointExplicitName;
+ private:
+  physics::ModelPtr model;
 
-    /// \brief simulate spring/damper with ExplicitUpdate function
-    private: double kpExplicit;
+ private:
+  common::Time prevUpdateTime;
 
-    /// \brief simulate spring/damper with ExplicitUpdate function
-    private: double kdExplicit;
+ private:
+  physics::JointPtr jointExplicit;
 
-  };
-}
+ private:
+  std::string jointExplicitName;
+
+  /// \brief simulate spring/damper with ExplicitUpdate function
+ private:
+  double kpExplicit;
+
+  /// \brief simulate spring/damper with ExplicitUpdate function
+ private:
+  double kdExplicit;
+};
+}  // namespace gazebo
 #endif
diff --git a/srdf/pyrene.srdf b/srdf/pyrene.srdf
new file mode 120000
index 0000000000000000000000000000000000000000..70c974e500bbb5f6251ff8c8f060ddc6d57d1c4b
--- /dev/null
+++ b/srdf/pyrene.srdf
@@ -0,0 +1 @@
+talos.srdf
\ No newline at end of file
diff --git a/urdf/pyrene.urdf b/urdf/pyrene.urdf
new file mode 120000
index 0000000000000000000000000000000000000000..23aaac66293d24dad83b551ae06e699c03b097df
--- /dev/null
+++ b/urdf/pyrene.urdf
@@ -0,0 +1 @@
+talos_full_v2.urdf
\ No newline at end of file