diff --git a/meshes/base.stl b/meshes/base.stl
index 722564bf5a5c2b266af230eddba850a5bbe69595..24c364807a2b92e7f80b2d6e8b53d7a1183b2cdc 100644
Binary files a/meshes/base.stl and b/meshes/base.stl differ
diff --git a/urdf/include/platform.gazebo b/urdf/include/platform.gazebo
index 00c03c3f617a1ad259369090cf4c4b4eae2f06f1..4e92815fabf4628efebb49b86e32547fee55854f 100644
--- a/urdf/include/platform.gazebo
+++ b/urdf/include/platform.gazebo
@@ -8,7 +8,7 @@
     <material>Gazebo/Grey</material>
     <gravity>true</gravity>
     <selfCollide>true</selfCollide>
-<!--    <dampingFactor>0.0002</dampingFactor> -->
+    <dampingFactor>0.00002</dampingFactor> 
 <!--    <mu1>0.300000</mu1> -->
 <!--    <mu2>1.000000</mu2> -->
 <!--    <kp>50000000.0</kp> -->
@@ -18,13 +18,13 @@
   <gazebo reference="steer_left">
     <material>Gazebo/Black</material>
     <gravity>true</gravity>
-    <dampingFactor>0.2</dampingFactor>
+<!--    <dampingFactor>0.002</dampingFactor>-->
   </gazebo>
 
   <gazebo reference="steer_right">
     <material>Gazebo/Black</material>
     <gravity>true</gravity>
-    <dampingFactor>0.2</dampingFactor>
+<!--    <dampingFactor>0.002</dampingFactor>-->
   </gazebo>
 
   <gazebo reference="base_link_2_steer_left_joint">
@@ -44,7 +44,7 @@
       <robotNamespace>/model_car</robotNamespace>
       <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
       <legacyModeNS>true</legacyModeNS>
-      <controlPeriod>0.02</controlPeriod>
+      <controlPeriod>0.001</controlPeriod>
     </plugin>
   </gazebo>
   
diff --git a/urdf/include/wheel.gazebo b/urdf/include/wheel.gazebo
index b2bdafc35c14fb9950a253c6a8bfe955825570a1..d1a59a8d55814043105c3a88ef6ab1c12c63239d 100644
--- a/urdf/include/wheel.gazebo
+++ b/urdf/include/wheel.gazebo
@@ -5,13 +5,14 @@
 
     <gazebo reference="${name}_wheel">
       <material>Gazebo/Black</material>
-      <maxContacts>2</maxContacts>
+      <maxContacts>10</maxContacts>
       <gravity>true</gravity>
       <selfCollide>true</selfCollide>
       <mu1>100.000000</mu1>
       <mu2>50.000000</mu2>
-      <kp>1e15</kp>
-      <kd>1e13</kd>
+<!--      <kp>1e15</kp>-->
+<!--      <kd>1e13</kd>-->
+<!--      <minDepth>0.01</minDepth>-->
     </gazebo>
 
     <gazebo reference="${parent}_2_${name}_wheel_joint">
diff --git a/urdf/include/wheel.xacro b/urdf/include/wheel.xacro
index 2d4d2ca3c1663c00ad0acdaaabb3a5c401f196fc..9bc453925e3672e5cd6a76a36084ac66f0d95e8b 100644
--- a/urdf/include/wheel.xacro
+++ b/urdf/include/wheel.xacro
@@ -37,6 +37,7 @@
       <axis xyz="0 0 ${direction}"/>
       <limit effort="0.1" velocity="20.0" upper="1e16" lower="-1e16"/>
       <!-- the limits only apply to revolute and prismatic joints -->
+      <dynamics damping="0.001"/>
     </joint>
 
     <transmission name="${name}_tran">