### Instrument visual model

Description:
Added LCP contact resolution. The modifications are:
In the root node:
Added a different collision response (FrictionContact)
Added local minimal distance contact detection
Added a FreeMotionAnimationLoop which gets the constraints from the objects, computes the LCP and propagates the contact correction
In the instrument node:
Added UncoupledConstraintCorrection to compute the constraints of the related object

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