From f1ec0f2e273dcfa4cc2fecdf5de89dc0da8ec622 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Tue, 2 Apr 2024 18:31:33 +0200
Subject: [PATCH] single_pendulum: Remove deprecated constructs from
 configuration files

---
 .../conf/gazebo_controlboard.ini              | 36 +++++++++++++------
 tutorial/model/single_pendulum/model.urdf     |  2 +-
 2 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/tutorial/model/single_pendulum/conf/gazebo_controlboard.ini b/tutorial/model/single_pendulum/conf/gazebo_controlboard.ini
index 891220da3..74c93cb15 100644
--- a/tutorial/model/single_pendulum/conf/gazebo_controlboard.ini
+++ b/tutorial/model/single_pendulum/conf/gazebo_controlboard.ini
@@ -1,14 +1,30 @@
 disableImplicitNetworkWrapper
 yarpDeviceName controlboard_plugin_device
-jointNames joint
+jointNames (joint)
 
-#PIDs:
-# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
-[GAZEBO_PIDS]
-#Torso
-Pid0 1000.0 2.0 0.1 9999 9999 9 9
-
-[GAZEBO_VELOCITY_PIDS]
-#Torso
-Pid0 500.0 2.0 0.1 9999 9999 9 9
+[POSITION_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp            (1000.0)
+kd            (2.0)
+ki            (0.1)
+maxInt        (9999)
+maxOutput     (9999)
+shift         (0.0)
+ko            (0.0)
+stictionUp    (0.0)
+stictionDwn   (0.0)
 
+[VELOCITY_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+velocityControlImplementationType integrator_and_position_pid
+kp            (500.0)
+kd            (2.0)
+ki            (0.1)
+maxInt        (9999)
+maxOutput     (9999)
+shift         (0.0)
+ko            (0.0)
+stictionUp    (0.0)
+stictionDwn   (0.0)
diff --git a/tutorial/model/single_pendulum/model.urdf b/tutorial/model/single_pendulum/model.urdf
index 02307fb9b..2c6189f6a 100644
--- a/tutorial/model/single_pendulum/model.urdf
+++ b/tutorial/model/single_pendulum/model.urdf
@@ -65,7 +65,7 @@
     <!-- Create an instance the gazebo_controlboard YARP device called "controlboard_plugin_device"-->
     <plugin name="controlboard" filename="libgazebo_yarp_controlboard.so">
         <yarpConfigurationFile>model://single_pendulum/conf/gazebo_controlboard.ini</yarpConfigurationFile>
-        <initialConfiguration>0.0 0.0</initialConfiguration>
+        <initialConfiguration>0.0</initialConfiguration>
     </plugin>
     <!-- Launch the other YARP devices, in this case a controlBoard_nws_yarp to expose the controlboard functionalities via YARP ports -->
     <plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">