2.1.0 (2021-08-11)

API changes:
- Changed instrument identifier from enum to std::string
- Instrument name is now following the convention name:model[version]. It used to be name_model
New features:
- Added new configuration file to list all supported instruments with option to load site specific list: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Custom-Instruments
- More instruments supported, including new Si Large Needle Driver with gears (version 12+)
- Instrument depth:
  - Using Classic or S specific depth to determine if instrument should engage
  - Using depth of joint 4 using forward kinematics to restrict motion towards/inside the cannula
- Updated wiki:
  - Better calibration documentation: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Calibration
  - PSM joint 3 calibration: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Potentiometer-calibration-for-PSM-insertion
  - Classic vs S instruments: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Tool-Generations
  - Support for custom instruments: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Custom-Instruments
- Updated JSON schemas: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Configuration-File-Formats
- Added example for cisstRobotPython
Bug fixes:
- Fixed range of motion used to engage sterile adapter and instruments to avoid encoder/pot errors
- Fixed bug in Matlab config generator for ECM
- Teleop PSM restarts automatically after an instrument's swap

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