diff --git a/bt_sim_node.py b/bt_sim_node.py
index 8a291bd..dfe75c6 100755
--- a/bt_sim_node.py
+++ b/bt_sim_node.py
@@ -105,7 +105,7 @@ class BtSimNode:
     def handle_updates(self):
         if self.step_cnt % int(self.sim.rate / self.controller_update_rate) == 0:
             self.cartesian_pose_controller.update()
-            self.gripper_interface.update(1.0 / 60.0)
+            self.gripper_interface.update(1.0 / self.controller_update_rate)
         if self.step_cnt % int(self.sim.rate / self.joint_state_publish_rate) == 0:
             self.publish_joint_state()
         if self.step_cnt % int(self.sim.rate / self.camera_publish_rate) == 0:
diff --git a/simulation.py b/simulation.py
index ed61f21..9acc657 100644
--- a/simulation.py
+++ b/simulation.py
@@ -10,6 +10,11 @@ from robot_tools.utils import scan_dir_for_urdfs
 class Simulation(BtManipulationSim):
     def __init__(self, gui=True, sleep=True):
         super().__init__(gui, sleep)
+
+        self.rate = 60
+        self.dt = 1.0 / self.rate
+        p.setPhysicsEngineParameter(fixedTimeStep=self.dt, numSubSteps=4)
+
         p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
         p.resetDebugVisualizerCamera(1.4, 50, -35, [0.0, 0.0, 0.6])