update gazebo-yarp-device configuration file

[davidegorbani]

When running the command:

gazebo -slibgazebo_yarp_clock.so iRonCub_Mk1_1_world

the following warnings appear specifying that the configuration file for the GazeboYarpIMU plugin should be updated:

[INFO] GazeboYarpClock loaded. Clock port will be  /clock
Warning [parser.cc:833] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
[INFO] |yarp.os.Port|/clock| Port /clock active at tcp://10.240.79.3:10003/
[INFO] |yarp.os.Port|/clock/rpc| Port /clock/rpc active at tcp://10.240.79.3:10004/
[WARNING] GazeboYarpIMU : [WRAPPER] group not found in config file, maybe you are using the old version of the ini file, please update icub-gazebo
[WARNING] GazeboYarpIMU : trying to open it with the legacy behaviour device-subdevice
[DEBUG] |yarp.dev.PolyDriver|multipleanalogsensorsserver| Parameters are (device multipleanalogsensorsserver) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName root_link_imu_acc) (name "/icubSim/xsens_inertial") (period 10) (sensorScopedName "default::iRonCub_Mk1_1::iCub::base_link::root_link_imu_acc") (sensor_name root_link_imu_acc) (subdevice gazebo_imu)
[INFO] |yarp.device.MultipleAnalogSensorsServer| Parameter 'name' using value: /icubSim/xsens_inertial
[INFO] |yarp.device.MultipleAnalogSensorsServer| Parameter 'period' using value: 10
[INFO] |yarp.dev.PolyDriver|multipleanalogsensorsserver| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[WARNING] GazeboYarpIMU : [WRAPPER] group not found in config file, maybe you are using the old version of the ini file, please update icub-gazebo
[WARNING] GazeboYarpIMU : trying to open it with the legacy behaviour device-subdevice
[DEBUG] |yarp.dev.PolyDriver|multipleanalogsensorsserver| Parameters are (device multipleanalogsensorsserver) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName head_imu_acc_1x1) (name "/icubSim/head/inertials") (period 10) (sensorScopedName "default::iRonCub_Mk1_1::iCub::head::head_imu_acc_1x1") (sensor_name head_imu_acc_1x1) (subdevice gazebo_imu)
[INFO] |yarp.device.MultipleAnalogSensorsServer| Parameter 'name' using value: /icubSim/head/inertials
[INFO] |yarp.device.MultipleAnalogSensorsServer| Parameter 'period' using value: 10
[INFO] |yarp.dev.PolyDriver|multipleanalogsensorsserver| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.

due to this warning, the ports streaming the IMU data are not opened and wholeBodyDynamics fails to start.

CC @ami-iit/ironcub