[scene] Fix force feedback for haptics and insertion - addition of 2 scenes

[th-skam]

Additions

• Force Feedback Node
  • Added a new node for force feedback containing a MechanicalObject<Rigid3d>
  • Includes collision sub-nodes with:
    • MechanicalObject<Vec3d> with a link; constraint->@Needle/bodyCollision/mstate.constraint.
    • RigidMapping with the parent node

New scenes

• InsertionHaptics_Box.py; Simplified scenario to fallback for debugging.

25-08-07-InsertionHapticsBox.mp4

• InsertionHaptics_Liver.py (renamed from InsertionGeomagic.py)

25-08-07-InsertionHapticsLiver.mp4

WIP - Known issues

Force Feedback node configuration

• To generate force feedback, the node must include collision models for both:
  • the needle body (EdgeSetTopologyContainer + mstate)
  • the needle tip (PointSetTopologyContainer + mstate)

Relying only on the body (edges) is insufficient in scenarios where only the tip is involved in proximity detection (due to the needle orientation). I would be better if we can unify the approach and use only the body for the force feedback mapping).

Stability

• Both scenes are a bit unstable
• Regularization terms help stabilize the scene

Issues

Close #43