[2.1.0] - 2023-06-05

For consistency with the robot, now iCub simulated models publish their Force-Torque Sensors measurements via the multipleanalogsensorsserver YARP device (#198, robotology/icub-models-generator#239, robotology/robots-configuration#517). The name parameter passed to this device is: /<robotPortPrefix>/<partName>/FT. This means that for each part there will be a multipleanalogsensorsserver device that will open the following YARP ports (these YARP ports are not meant to be accessed directly, but should be accessed instead via the multipleanalogsensorsclient device):
- /<robotPortPrefix>/<partName>/FT/measures:o : that publishes sensors information for the part, using the structure defined in https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift
- /<robotPortPrefix>/<partName>/FT/rpc:o : that expose several information related to the part via a YARP RPC port

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