diff --git a/WheeledRobot.py b/WheeledRobot.py
index 48b81d9..f9d5797 100755
--- a/WheeledRobot.py
+++ b/WheeledRobot.py
@@ -141,6 +141,9 @@ class WheeledRobotEnv(gym.Env):
         # U represents wheel velocities from controllers
         # F converts wheel velocities to robot velocities
         robot_velocities = self.F @ U
+        robot_velocities = np.clip(robot_velocities, 
+                                   a_min=np.array([-2, -2, -1]).reshape(-1, 1), 
+                                   a_max=np.array([2, 2, 1]).reshape(-1, 1))
         Xp = X + self._R(X[2, 0]) @ robot_velocities * self.dt
         
         previous_state = self.state.copy()