[Needle][scene] Adjustments for the addition of the friction constraint

[th-skam]

Dependencies

1. PR [Needle][algorithm] Volume proximities are re-projected back onto the needle at every time step #35 should be merged first.
2. PR [Needle][constraint] Addition of the frictional constraint ConstraintGeometry#9 is concurrent and must be merged to together with this one.

Additions

1. Added the friction coefficient parameter
2. Lower the Gauss-Seidel tolerance. Without it, the constraint solver struggles to make the coupling points comply.
3. Increased stiffness of the gel to demonstrate needle bending.

Result