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< 
<     // breakable joints contribution
< 		dJointSetBreakable (joint[i], 1);
< 		dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_FORCE);
< 		dJointSetBreakForce (joint[i], 0.5);
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<   ground_box = dCreateBox (space,2,1.5,5);
---
>   ground_box = dCreateBox (space,2,1.5,1);
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<   dRFromAxisAndAngle (R,0,1,0,-0.85);
<   dGeomSetPosition (ground_box,5,0,-1);
---
>   dRFromAxisAndAngle (R,0,1,0,-0.15);
>   dGeomSetPosition (ground_box,2,0,-0.34);