Update for frictional contacts #2184
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Description
I updated the Documentation to align with the style general style.
The calculation of the frictional force has been modified. It is now based exclusively on the z-component of the moment of inertia. This change introduces support for 2D simulations, which can be configured by using a moment of inertia of [0, 0, I]. For 3D simulations, the system requires isotropic spheres, specified by an identical moment of inertia in all dimensions (e.g., [I, I, I]).