diff --git a/src/sherpa/urdf/components/wheel.xacro b/src/sherpa/urdf/components/wheel.xacro
index 24599ca..6978164 100644
--- a/src/sherpa/urdf/components/wheel.xacro
+++ b/src/sherpa/urdf/components/wheel.xacro
@@ -64,6 +64,8 @@
                     <ode>
                         <mu>1.5</mu>
                         <mu2>1.2</mu2>
+                        <kp>1000000</kp>
+	                    <kd>100</kd>
                     </ode>
                 </friction>
                 <soft_cfm>0.1</soft_cfm>  <!-- Soft contact to prevent rigid collisions -->