diff --git a/scripts/cython_test/env.pyx b/scripts/cython_test/env.pyx
index 0decb4a..8d802e6 100755
--- a/scripts/cython_test/env.pyx
+++ b/scripts/cython_test/env.pyx
@@ -87,7 +87,7 @@ class ChaiEnv:
             step_jump = 0
             while step_jump < self.n_skip_steps:
                 step_jump = self.obj_handle.sim_step_cur - self.obj_handle.sim_step_pre_update
-                time.sleep(0.0005)
+                time.sleep(0.00001)
             if step_jump > self.n_skip_steps:
                 print 'WARN: Jumped {} steps, Default skip limit {} Steps'.format(step_jump, self.n_skip_steps)
 
diff --git a/scripts/cython_test/world.pyx b/scripts/cython_test/world.pyx
index 73a8436..667e98d 100644
--- a/scripts/cython_test/world.pyx
+++ b/scripts/cython_test/world.pyx
@@ -35,6 +35,7 @@ class World(WatchDog):
     def update(self):
         self.cmd.step_clock = not self.cmd.step_clock
         self.acknowledge_wd()
+        self.pub.publish(self.cmd)
 
     def clear_cmd(self):
         self.cmd.enable_step_throttling = False
@@ -45,4 +46,4 @@ class World(WatchDog):
             if self.is_wd_expired():
                 self.console_print('World')
                 self.clear_cmd()
-            self.pub.publish(self.cmd)
+            # self.pub.publish(self.cmd)
diff --git a/setup.py b/setup.py
index 65c59b5..55c5f79 100644
--- a/setup.py
+++ b/setup.py
@@ -2,9 +2,10 @@
 from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
-# fetch values from package.xml
-setup_args = generate_distutils_setup(packages=[''],
-                                      package_dir={'': 'scripts'},
-                                      )
+d = generate_distutils_setup(
+    packages=['chai_env'],
+    scripts=[''],
+    package_dir={'': 'scripts'}
+)
 
-setup(**setup_args)
+setup(**d)