diff --git a/unitree_gazebo/worlds/earth.world b/unitree_gazebo/worlds/earth.world
index 0386f59..101bb29 100644
--- a/unitree_gazebo/worlds/earth.world
+++ b/unitree_gazebo/worlds/earth.world
@@ -3,9 +3,9 @@
     <world name="default">
 
         <physics type="ode">
-        <max_step_size>0.001</max_step_size>
+        <max_step_size>0.0002</max_step_size>
         <real_time_factor>1</real_time_factor>
-        <real_time_update_rate>1000</real_time_update_rate>
+        <real_time_update_rate>5000</real_time_update_rate>
         <gravity>0 0 -9.81</gravity>
             <ode>
                 <solver>