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First, Earth is quite dense. Oddworld could be much less dense
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Not really, most inner rocky planets are very dense. And with Oddworld's mass, I would think that it's pretty dense.
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and who's to say Muds aren't 1 mm high anyway?
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Because there was a size chart showing the height of numerous Oddworld creatures, including Mudokons. They weren't 1 mm tall.
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Second, security orbs could be floated by having helium inside them, that would make them light enough.
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It would have to be some pretty compressed helium then, those orbs are made of heavy metal, plus there's all the machinery inside. It's little technicalities like these that are best left undetermined. As I have stated before, Oddworld is called odd for a reason, one of them (IMO) being that you don't need a scientific explanation for everything that takes place.