Environment: g=-9.81, F_drag=0.0
Ground: mu_s=0.7, mu_k=0.6
OakCube: a = 2.5, e = 0.5, h = 14.0, v_0 = 0.0
CherryCube: a = 2.5, e = 0.5, h = 16.0, v_0 = 0.0
WalnutCube: a = 2.0, e = 0.5, h = 18.0, v_0 = 0.0
AshCube: a = 3.0, e = 0.55, h = 0.0, v_0 = 0.0