diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5cb1df5531fbb4239993de8fbebdd3c6c4abfe6c..6ced02e7d647648931bbe3f35363168c61ea373a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,5 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
 
-
 SET(PROJECT_ORG pyrene-dev)
 SET(PROJECT_NAME talos_data)
 SET(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
diff --git a/src/SpringPlugin.cc b/src/SpringPlugin.cc
index 452b09bec50f403beef8713778ac09c9b8f2e413..957c8b5ee6facd92b6a1c8ac823a40bbab9470db 100644
--- a/src/SpringPlugin.cc
+++ b/src/SpringPlugin.cc
@@ -65,7 +65,11 @@ 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;
   this->jointExplicit->SetForce(0, force);