### Connection with the Omni device

Description:
This scene introduces the omni device and connect it to control the instrument.
Key points:

- Added a driver for the Omni phantom device
- Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation
- Added a computation (LCPForceFeedback) of the haptic forces
- Added VectorSpringForceField & JointSpringForceField to link the movements of the Omni phantom and the instrument

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