Add rotation parameter for AMTIForcePlate device

[yeshasvitirupachuri]

After the AMTI force platforms are relocated, their new installation configuration in San Quirico is different from Morego, as shown below

This PR adds the option of a rotation about the z-axis to express the force torque values coming from the AMTI force platforms in the same frames as we had in Morego.

I tested it by placing two 5 Kg weights at the locations on the plates shown below

Using the reference of the frames from above

Input wrench is in the frames of the san quirico figure, and output wrench is in the frames of the old morego configuration.

CC @claudia-lat @lrapetti @DanielePucci

[yeshasvitirupachuri]

Ping @lrapetti

[yeshasvitirupachuri]

Thanks @lrapetti Merging.