diff --git a/motionplan/armplanning/motionPlanner.go b/motionplan/armplanning/motionPlanner.go
index d287181a180..2bdb9de1060 100644
--- a/motionplan/armplanning/motionPlanner.go
+++ b/motionplan/armplanning/motionPlanner.go
@@ -563,8 +563,8 @@ func (mp *planner) getSolutions(
 	failures := map[string]int{}
 	constraintFailCnt := 0
 
-	startTime := time.Now()
-	firstSolutionTime := time.Hour
+	// startTime := time.Now()
+	// firstSolutionTime := time.Hour
 
 	// Solve the IK solver. Loop labels are required because `break` etc in a `select` will break only the `select`.
 IK:
@@ -625,15 +625,15 @@ IK:
 						break IK
 					}
 
-					if len(solutions) == 1 {
-						firstSolutionTime = time.Since(startTime)
-					} else {
-						elapsed := time.Since(startTime)
-						if elapsed > (time.Duration(mp.planOpts.TimeMultipleAfterFindingFirstSolution) * firstSolutionTime) {
-							mp.logger.Infof("ending early because of time elapsed: %v firstSolutionTime: %v", elapsed, firstSolutionTime)
-							break IK
-						}
-					}
+					// if len(solutions) == 1 {
+					// 	firstSolutionTime = time.Since(startTime)
+					// } else {
+					// 	elapsed := time.Since(startTime)
+					// 	if elapsed > (time.Duration(mp.planOpts.TimeMultipleAfterFindingFirstSolution) * firstSolutionTime) {
+					// 		mp.logger.Infof("ending early because of time elapsed: %v firstSolutionTime: %v", elapsed, firstSolutionTime)
+					// 		break IK
+					// 	}
+					// }
 				} else {
 					constraintFailCnt++
 					failures[err.Error()]++
diff --git a/motionplan/armplanning/plannerOptions.go b/motionplan/armplanning/plannerOptions.go
index e3b4db4c265..3ad7b14bf77 100644
--- a/motionplan/armplanning/plannerOptions.go
+++ b/motionplan/armplanning/plannerOptions.go
@@ -66,13 +66,12 @@ const (
 	// var defaultPlanner = newCBiRRTMotionPlanner.
 )
 
-var (
-	defaultNumThreads                            = utils.MinInt(runtime.NumCPU()/2, 10)
-	defaultTimeMultipleAfterFindingFirstSolution = 10
-)
+var defaultNumThreads = runtime.NumCPU() / 2
+
+// defaultTimeMultipleAfterFindingFirstSolution = 10
 
 func init() {
-	defaultTimeMultipleAfterFindingFirstSolution = utils.GetenvInt("MP_TIME_MULTIPLIER", defaultTimeMultipleAfterFindingFirstSolution)
+	// defaultTimeMultipleAfterFindingFirstSolution = utils.GetenvInt("MP_TIME_MULTIPLIER", defaultTimeMultipleAfterFindingFirstSolution)
 	defaultNumThreads = utils.GetenvInt("MP_NUM_THREADS", defaultNumThreads)
 }
 
@@ -115,7 +114,7 @@ func NewBasicPlannerOptions() *PlannerOptions {
 
 	opt.SmoothIter = defaultSmoothIter
 
-	opt.TimeMultipleAfterFindingFirstSolution = defaultTimeMultipleAfterFindingFirstSolution
+	// opt.TimeMultipleAfterFindingFirstSolution = defaultTimeMultipleAfterFindingFirstSolution
 	opt.NumThreads = defaultNumThreads
 
 	opt.LineTolerance = defaultLinearDeviation
@@ -237,7 +236,7 @@ type PlannerOptions struct {
 	// For inverse kinematics, the time within which each pending solution must finish its computation is
 	// a multiple of the time taken to compute the first solution. This parameter is a way to
 	// set that multiplicative factor.
-	TimeMultipleAfterFindingFirstSolution int `json:"time_multiple_after_finding_first_solution"`
+	// TimeMultipleAfterFindingFirstSolution int `json:"time_multiple_after_finding_first_solution"`
 }
 
 // NewPlannerOptionsFromExtra returns basic default settings updated by overridden parameters