diff --git a/brick/model.sdf b/brick/model.sdf
index b34b6ac..b9c688a 100755
--- a/brick/model.sdf
+++ b/brick/model.sdf
@@ -25,8 +25,8 @@
         <surface>
           <friction>
             <ode>
-              <mu>1000</mu>
-              <mu2>500</mu2>
+              <mu>1</mu>
+              <mu2>1</mu2>
               <fdir1>0 0 1</fdir1>
               <slip1>0.4</slip1>
               <slip2>0.4</slip2>
@@ -34,8 +34,8 @@
           </friction>
           <contact>
             <ode>
-              <kp>100000.000000</kp>
-              <kd>100.00000</kd>
+              <kp>100.000000</kp>
+              <kd>1.00000</kd>
               <max_vel>20.000000</max_vel>
               <min_depth>0.0001</min_depth>
             </ode>
diff --git a/new_main.py b/new_main.py
index 5685234..95d5214 100644
--- a/new_main.py
+++ b/new_main.py
@@ -61,9 +61,6 @@ class PickAndPlace(object):
         resp_seeds = struct.unpack('<%dB' % len(resp.result_type), resp.result_type)
         limb_joints = {}
         if (resp_seeds[0] != resp.RESULT_INVALID):
-            print()
-            print(resp_seeds)
-            print()
             seed_str = {
                         ikreq.SEED_USER: 'User Provided Seed',
                         ikreq.SEED_CURRENT: 'Current Joint Angles',
@@ -84,8 +81,8 @@ class PickAndPlace(object):
 
     def _guarded_move_to_joint_position(self, joint_angles):
         if joint_angles:
-            # self._limb.set_joint_position_speed(1.5)
-            self._limb.move_to_joint_positions(joint_angles)#, timeout=20.0, threshold=self._accuracy)
+            self._limb.set_joint_position_speed(0.1)
+            self._limb.move_to_joint_positions(joint_angles, timeout=20.0, threshold=self._accuracy)
         else:
             rospy.logerr("No Joint Angles provided for move_to_joint_positions. Staying put.")