diff --git a/sim/envs/humanoids/dora_config.py b/sim/envs/humanoids/dora_config.py
index 08d93154..79953d62 100644
--- a/sim/envs/humanoids/dora_config.py
+++ b/sim/envs/humanoids/dora_config.py
@@ -95,10 +95,10 @@ class control(LeggedRobotCfg.control):
         # action scale: target angle = actionScale * action + defaultAngle
         action_scale = 0.25
         # decimation: Number of control action updates @ sim DT per policy DT
-        decimation = 4  # 100hz
+        decimation = 20  # 50 hz
 
     class sim(LeggedRobotCfg.sim):
-        dt = 0.002  # 1000 Hz
+        dt = 0.001  # 1000 Hz
         substeps = 1  # 2
         up_axis = 1  # 0 is y, 1 is z
 
diff --git a/sim/envs/humanoids/stompymicro_config.py b/sim/envs/humanoids/stompymicro_config.py
index d5b83e76..4189afda 100644
--- a/sim/envs/humanoids/stompymicro_config.py
+++ b/sim/envs/humanoids/stompymicro_config.py
@@ -97,7 +97,7 @@ class control(LeggedRobotCfg.control):
         # action scale: target angle = actionScale * action + defaultAngle
         action_scale = 0.25
         # decimation: Number of control action updates @ sim DT per policy DT
-        decimation = 10  # 100hz
+        decimation = 20  # 100hz
 
     class sim(LeggedRobotCfg.sim):
         dt = 0.001  # 1000 Hz
diff --git a/sim/envs/humanoids/stompypro_config.py b/sim/envs/humanoids/stompypro_config.py
index 6d1e020e..714e15c2 100644
--- a/sim/envs/humanoids/stompypro_config.py
+++ b/sim/envs/humanoids/stompypro_config.py
@@ -95,7 +95,7 @@ class control(LeggedRobotCfg.control):
         # action scale: target angle = actionScale * action + defaultAngle
         action_scale = 0.25
         # decimation: Number of control action updates @ sim DT per policy DT
-        decimation = 10  # 100hz
+        decimation = 20  # 100hz
 
     class sim(LeggedRobotCfg.sim):
         dt = 0.001  # 1000 Hz