diff --git a/src/origincar_description/urdf/origincar.urdf b/src/origincar_description/urdf/origincar.urdf
index 8bdf956..28bc794 100644
--- a/src/origincar_description/urdf/origincar.urdf
+++ b/src/origincar_description/urdf/origincar.urdf
@@ -5,7 +5,6 @@
     <origin xyz="0 0 0" rpy="0 0 0" />
   </link>
   <link name="base_link">
-    <origin xyz="0 0 0" rpy="0 0 0" />
   </link>
   <joint name="base_joint" type="fixed">
     <parent link="base_footprint" />
@@ -122,7 +121,7 @@
     <parent link="fr_left_steer_link" />
     <child link="fr_left_wheel_link" />
     <axis xyz="0 0 -1" />
-     <dynamics friction="0.0" damping="0.01" />
+     <dynamics friction="0.2" damping="0.12" />
     <limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
   </joint>
   <link name="fr_right_steer_link">
@@ -174,7 +173,7 @@
     <parent link="fr_right_steer_link" />
     <child link="fr_right_wheel_link" />
     <axis xyz="0 0 1" />
-     <dynamics friction="0.0" damping="0.01" />
+     <dynamics friction="0.2" damping="0.12" />
     <limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
   </joint>
 
@@ -210,7 +209,7 @@
     <parent link="chassis_link" />
     <child link="re_left_wheel_link" />
     <axis xyz="0 0 -1" />
-     <dynamics friction="0.0" damping="0.01" />
+     <dynamics friction="0.2" damping="0.12" />
     <limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
   </joint>
   <link name="re_right_wheel_link">
@@ -244,7 +243,7 @@
     <parent link="chassis_link" />
     <child link="re_right_wheel_link" />
     <axis xyz="0 0 1" />
-     <dynamics friction="0.0" damping="0.01" />
+     <dynamics friction="0.2" damping="0.1" />
     <limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
   </joint>
 
@@ -311,25 +310,6 @@
     <origin rpy="0 0 0" xyz="0 0 0.045" />
   </joint>
 
-  <gazebo reference="fr_left_wheel_link">
-    <mu1>1.1</mu1>
-    <mu2>1.2</mu2>
-  </gazebo>
-
-  <gazebo reference="fr_right_wheel_link">
-    <mu1>1.1</mu1>
-    <mu2>1.2</mu2>
-  </gazebo>
-
-  <gazebo reference="re_left_wheel_link">
-    <mu1>1.1</mu1>
-    <mu2>1.2</mu2>
-  </gazebo>
-
-  <gazebo reference="re_right_wheel_link">
-    <mu1>1.1</mu1>
-    <mu2>1.2</mu2>
-  </gazebo>
   <!-- ackerman -->
 
   <gazebo>
@@ -378,12 +358,6 @@
       <joint_name>re_right_wheel_joint</joint_name>
       <joint_name>re_left_wheel_joint</joint_name>
       <joint_name>virtual_steering_wheel_joint</joint_name>
-      <joint_name>base_joint</joint_name>
-      <joint_name>chassis_joint</joint_name>
-      <joint_name>board_joint</joint_name>
-      <joint_name>laser_joint</joint_name>
-      <joint_name>imu_joint</joint_name>
-
     </plugin>
   </gazebo>