diff --git a/data/torus_deform.urdf b/data/torus_deform.urdf
index 20fa3e1a3..a3b49dc94 100644
--- a/data/torus_deform.urdf
+++ b/data/torus_deform.urdf
@@ -2,13 +2,13 @@
 <robot name="torus">
   <deformable name="torus">
     <inertial>
-      <mass value="1" />
+      <mass value="3" />
       <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
     </inertial>
     <collision_margin value="0.006"/>
     <repulsion_stiffness value="800.0"/>
     <friction value= "0.5"/>
-    <neohookean mu= "60" lambda= "200" damping= "0.01" />
+    <neohookean mu= "180" lambda= "600" damping= "0.01" />
     <visual filename="torus.vtk"/>
   </deformable>
 </robot>
diff --git a/examples/pybullet/examples/deformable_ball.py b/examples/pybullet/examples/deformable_ball.py
index dea6bc51f..68dd39aaa 100644
--- a/examples/pybullet/examples/deformable_ball.py
+++ b/examples/pybullet/examples/deformable_ball.py
@@ -14,7 +14,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
 
 boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
 
-ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5, collisionMargin = 0.006)
+ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 4, useNeoHookean = 1, NeoHookeanMu = 400, NeoHookeanLambda = 600, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5, collisionMargin = 0.001)
 p.setTimeStep(0.001)
 p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
 p.setRealTimeSimulation(1)
diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py
index 0408e8e90..fe64ae648 100644
--- a/examples/pybullet/examples/deformable_torus.py
+++ b/examples/pybullet/examples/deformable_torus.py
@@ -14,7 +14,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2])
 
 boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
 
-bunnyId = p.loadSoftBody("torus.vtk", mass = 1, useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800)
+bunnyId = p.loadSoftBody("torus.vtk", mass = 3, useNeoHookean = 1, NeoHookeanMu = 180, NeoHookeanLambda = 600, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800)
 
 bunny2 = p.loadURDF("torus_deform.urdf", [0,1,0], flags=p.URDF_USE_SELF_COLLISION)
 
diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
index e3b8a462b..0c3e0b5eb 100644
--- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
+++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
@@ -86,7 +86,8 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
 	{
 		// add damping matrix
 		m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b);
-		if (m_implicit)
+        // Always integrate picking force implicitly for stability.
+        if (m_implicit || m_lf[i]->getForceType() == BT_MOUSE_PICKING_FORCE)
 		{
 			m_lf[i]->addScaledElasticForceDifferential(-m_dt * m_dt, x, b);
 		}
@@ -176,7 +177,8 @@ void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack& r
 	// add implicit force
 	for (int i = 0; i < m_lf.size(); ++i)
 	{
-		if (m_implicit)
+        // Always integrate picking force implicitly for stability.
+		if (m_implicit || m_lf[i]->getForceType() == BT_MOUSE_PICKING_FORCE)
 		{
 			m_lf[i]->addScaledForces(dt, residual);
 		}