diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_head.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_head.ini
index cfac1a7..135d491 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_head.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_head.ini
@@ -51,6 +51,7 @@ stictionUp    0.0   0.0   0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 0.01  0.01  0.01
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini
index a7f8be6..5eae3ae 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 5.235
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini
index feb4514..8f3b700 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini
index e98da3e..694b68a 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini
index 8d5d486..841c7de 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 8.726 8.726 8.726
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_thumb.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_thumb.ini
index 0e1a610..9e56dca 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_thumb.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_thumb.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 5.236
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini
index 8a993cd..fc8f580 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 5.236
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_index.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_index.ini
index 0424730..0980c0d 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_index.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_index.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_middle.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_middle.ini
index 4d46fa4..f25e74e 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_middle.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_middle.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_pinky.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_pinky.ini
index e4cb793..0433ab2 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_pinky.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_pinky.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 8.726 8.726 8.726
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_thumb.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_thumb.ini
index fa12966..c3f38b9 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_thumb.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_thumb.ini
@@ -45,6 +45,7 @@ stictionUp    0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 5.236
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_leg.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_leg.ini
index 3302dd0..7750812 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_leg.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_leg.ini
@@ -48,6 +48,7 @@ stictionUp    0.0    0.0    0.0    0.0    0.0    0.0
 stictionDwn   0.0    0.0    0.0    0.0    0.0    0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 8.726 8.726 8.726
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_torso.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_torso.ini
index 8696a91..4a8bff2 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_torso.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_torso.ini
@@ -48,6 +48,7 @@ stictionUp    0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726