Retirement tax questions

My apologies for reviving this old thread but it seems to hit my question on the head and want to confirm. 

 

Any Roth Contributions (Not earnings) whether 401k or IRA or 401k rolled into IRA are all available to be withdraw without any penalty or taxes? 

 

From what I read, I can clearly deduce that earnings have the 59.5 age, the 5 year waiting period. However, when it comes to the Roth 401k converted contributions, I have found multiple conflicting standpoints on taxes and the 5 year 10% penalty.