From 7325aa56ec74c8eb898cbe1f0002fb5f32279a47 Mon Sep 17 00:00:00 2001
From: Bian Zekun <568574579@qq.com>
Date: Wed, 9 Feb 2022 16:17:00 +0800
Subject: [PATCH] increase simulation frequency to 5000Hz

---
 unitree_gazebo/worlds/earth.world | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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>