Visualise `cartesian_wrenches` (all those computed by WBD)

[nunoguedelha]

Visualise all the cartesian wrenches provided by the WBD on iCubGenova09:

The Yarp output ports are defined in the configuration file ami-iit/robots-configuration/estimators/wholebodydynamics.xml#devel_iCubGenova09.

Cartesian wrench applied to...	YARP port
Left arm	/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o
Right arm	/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o
Left leg	/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o
Right leg	/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o
Left foot front	/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o
Left foot rear	/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o
Right foot front	/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o
Right foot rear	/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o

Device Type	Data Format
wholebodydynamics	F_x F_y F_z Tau_x Tau_y Tau_z

• F_[x|y|z] in N (Newtons).
• Tau_[x|y|z] in Nm (Newton Meters).