Environment: g=-9.81, F_drag=0.0
Ground: mu_s=0.0, mu_k=0.0
WalnutCube1: a = 2.0, e = 0.5, m = 5120.0, v_0 = 1.5
OakCube: a = 2.0, e = 0.5, m = 6000.0, v_0 = -1.5