diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 580775060..578814c36 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -37,7 +37,7 @@ bool gJointFeedbackInJointFrame = false;
 
 namespace {
     const btScalar SLEEP_EPSILON = btScalar(0.05);  // this is a squared velocity (m^2 s^-2)
-    const btScalar SLEEP_TIMEOUT = btScalar(0.3);     // in seconds
+    const btScalar SLEEP_TIMEOUT = btScalar(2);     // in seconds
 }
 
 namespace {
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 04cb5ac0a..23ea5533f 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -485,7 +485,7 @@ void addJointTorque(int i, btScalar Q);
 	}
 	void setCompanionId(int id)
 	{
-		printf("for %p setCompanionId(%d)\n",this, id);
+		//printf("for %p setCompanionId(%d)\n",this, id);
 		m_companionId = id;
 	}