diff --git a/src/bike.rs b/src/bike.rs
index 6504a17..1816a2c 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -44,7 +44,7 @@ fn spawn_bike(
             SleepingDisabled,
             CyberBikeBody,
             CatControllerState::default(),
-            ColliderDensity(0.4),
+            ColliderDensity(20.0),
             LinearDamping(0.1),
             AngularDamping(2.0),
             LinearVelocity::ZERO,
@@ -163,7 +163,7 @@ fn wheels_helper(
             Name::new("hub"),
             SpatialBundle::from_transform(xform),
             RigidBody::Dynamic,
-            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 8.0),
+            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 200.0),
         ))
         .with_children(|parent| {
             let mesh: Mesh = Sphere::new(0.1).into();
@@ -182,9 +182,9 @@ fn wheels_helper(
             CyberWheel,
             RigidBody::Dynamic,
             collider,
-            Friction::new(3.0).with_dynamic_coefficient(0.9),
+            Friction::new(0.9).with_dynamic_coefficient(0.6),
             Restitution::new(0.1),
-            ColliderDensity(0.1),
+            ColliderDensity(30.0),
             CollisionLayers::from_bits(2, 2),
             ExternalTorque::ZERO.with_persistence(false),
             CollisionMargin(0.05),
diff --git a/src/main.rs b/src/main.rs
index dbc8c63..3af1149 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -47,13 +47,13 @@ fn ground_and_light(
             Collider::cuboid(50.0, 0.5, 50.0),
             CollisionMargin(0.1),
             ColliderDensity(1000.0),
-            Friction::new(3.0),
+            Friction::new(0.9),
         ))
         .with_children(|p| {
             p.spawn(PbrBundle {
                 mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)),
                 material: materials.add(Color::from(SILVER)),
-                transform: Transform::from_xyz(0.0, 0.5, 0.0),
+                transform: Transform::from_xyz(0.0, 1.0, 0.0),
                 ..default()
             });
         });
diff --git a/src/physics.rs b/src/physics.rs
index 7ba5c83..cffcfbd 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -18,9 +18,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 20.0,
-            kd: 2.0,
-            ki: 0.7,
+            kp: 950.0,
+            kd: 10.0,
+            ki: 50.0,
         }
     }
 }