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Gravity's role is to keep the planets in orbit and balance.
Here, not only mass but also density becomes important. A denser planet will have more mass than another of the same size. The Earth is the denser planet in the Solar System, which means that it surface gravity is very high compared to its mass. Because of that we have a bigger surface gravity than Uranus (the earth has 9.79 m/sÂ² while Uranus has 8.87), and almost as big as Saturn and Neptune (10.44 and 11.15 respectivelly).