single_pendulum: Remove deprecated constructs from configuration files

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)

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">