This demo implements a bidirectional haptic interface for tool interaction.

Requirements:
- real robot: 
- - force sensor driver: https://github.com/manips-sai-org/optoforceSensor
- - Mikael IIWA examples: https://github.com/mikael-jorda/iiwa-ForceControl
- - Optitrack tutorial: https://docs.google.com/document/d/1_tAaQsYwUUZuhPGsodWeCG_FHC33cOr0kU5zRnjznfA/edit