Environment: g=-9.81, F_drag=0.0
Ground: mu_s=0.0, mu_k=0.0
GrogFiredClayCube: a = 2.0, e = 0.2, m = 16000.0, v_0 = 3.5
WalnutCube: a = 2.0, e = 0.5, m = 5120.0, v_0 = 0.5