diff --git a/src/action/components.rs b/src/action/components.rs
index 1652477..efa3cea 100644
--- a/src/action/components.rs
+++ b/src/action/components.rs
@@ -46,14 +46,12 @@ impl Default for Tunneling {
 pub struct MovementSettings {
     pub accel: f32,
     pub gravity: f32,
-    pub sensitivity: f32,
 }
 
 impl Default for MovementSettings {
     fn default() -> Self {
         Self {
-            sensitivity: 6.0,
-            accel: 40.0,
+            accel: 20.0,
             gravity: 9.8,
         }
     }
diff --git a/src/action/mod.rs b/src/action/mod.rs
index af13e47..dabccf2 100644
--- a/src/action/mod.rs
+++ b/src/action/mod.rs
@@ -28,6 +28,7 @@ impl Plugin for CyberActionPlugin {
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
             .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
+            .add_startup_system(timestep_setup)
             .add_plugin(FrameTimeDiagnosticsPlugin::default())
             .add_system(surface_fix.label("surface_fix"))
             .add_system(gravity.label("gravity").before("cat"))
diff --git a/src/action/systems.rs b/src/action/systems.rs
index 09aea8f..1f29e12 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -5,7 +5,7 @@ use bevy::prelude::{
 };
 use bevy_rapier3d::prelude::{
     CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
-    RapierContext, ReadMassProperties, Velocity,
+    RapierContext, ReadMassProperties, TimestepMode, Velocity,
 };
 
 #[cfg(feature = "inspector")]
@@ -36,6 +36,15 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
     -Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z])
 }
 
+pub(super) fn timestep_setup(mut config: ResMut<RapierConfiguration>) {
+    let ts = TimestepMode::Interpolated {
+        dt: 1.0 / 55.0,
+        time_scale: 1.0,
+        substeps: 16,
+    };
+    config.timestep_mode = ts;
+}
+
 /// The gravity vector points from the cyberbike to the center of the planet.
 pub(super) fn gravity(
     mut query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
diff --git a/src/bike/body.rs b/src/bike/body.rs
index 44e4baf..533eb58 100644
--- a/src/bike/body.rs
+++ b/src/bike/body.rs
@@ -55,7 +55,7 @@ pub(super) fn spawn_cyberbike(
         .spawn(RigidBody::Dynamic)
         .insert(spatialbundle)
         .insert((
-            Collider::capsule(Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8), 0.40),
+            Collider::capsule(Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8), 0.5),
             bike_collision_group,
             mass_properties,
             damping,
diff --git a/src/bike/components.rs b/src/bike/components.rs
index 0f8ee1b..e98f66f 100644
--- a/src/bike/components.rs
+++ b/src/bike/components.rs
@@ -38,7 +38,7 @@ impl Default for WheelConfig {
             stiffness: 50.0,
             damping: 8.0,
             radius: 0.3,
-            thickness: 0.06,
+            thickness: 0.2,
             friction: 1.2,
             restitution: 0.8,
             density: 0.6,
diff --git a/src/bike/wheels.rs b/src/bike/wheels.rs
index 555cbb9..7ee8e4c 100644
--- a/src/bike/wheels.rs
+++ b/src/bike/wheels.rs
@@ -76,14 +76,8 @@ pub fn spawn_tires(
             linear_damping: 0.8,
             ..Default::default()
         };
-        let mesh = Mesh::from(tire);
-        let mut idxs = Vec::new();
-        let indices = mesh.indices().unwrap().iter().collect::<Vec<_>>();
-        for idx in indices.as_slice().chunks_exact(3) {
-            idxs.push([idx[0] as u32, idx[1] as u32, idx[2] as u32]);
-        }
 
-        let wheel_collider = Collider::round_cylinder(tire_thickness, wheel_rad, tire_thickness);
+        let wheel_collider = Collider::ball(wheel_rad);
         let mass_props = ColliderMassProperties::Density(conf.density);
         let damping = conf.damping;
 
@@ -119,11 +113,11 @@ pub fn spawn_tires(
             fork_rb_entity
         };
 
-        let axel_builder = RevoluteJointBuilder::new(Vec3::Y);
+        let axel_builder = RevoluteJointBuilder::new(Vec3::X);
         let mut axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
         // re-orient the joint so that the wheel is correctly oriented
-        let real_axel = *axel_joint.data.set_local_axis1(Vec3::X);
-        axel_joint.data = real_axel;
+        //let real_axel = *axel_joint.data.set_local_axis1(Vec3::X);
+        //axel_joint.data = real_axel;
 
         commands.spawn(pbr_bundle.clone()).insert((
             wheel_collider,