diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp
index cc304450f01f624c100475304c9b84d968204303..da91c635074fd541984523506526a1f731d3e941 100644
--- a/src/impl/moveit_mediator.cpp
+++ b/src/impl/moveit_mediator.cpp
@@ -911,22 +911,22 @@ void Moveit_mediator::task_planner(){
 			}
 		}
 		
-		for(auto& t : th){
-			t.join();
-		}
-
-		for(auto& exec : executions_){
-		 	for (int i = 0; i < robots_.size(); i++){
-		 		if (exec.first == robots_[i]->name()){
-		 			auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
-	 				manipulate_acm(mr, exec.second.second);
-		 			merge_ps(ps_m, exec.second.second, mr);
-		 		}
-			}
-		}
-
-		merge_acm(ps_m);
-		planning_scene_diff_publisher_->publish(ps_m);
+		// for(auto& t : th){
+		// 	t.join();
+		// }
+
+		// for(auto& exec : executions_){
+		//  	for (int i = 0; i < robots_.size(); i++){
+		//  		if (exec.first == robots_[i]->name()){
+		//  			auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
+	 	// 			manipulate_acm(mr, exec.second.second);
+		//  			merge_ps(ps_m, exec.second.second, mr);
+		//  		}
+		// 	}
+		// }
+
+		// merge_acm(ps_m);
+		// planning_scene_diff_publisher_->publish(ps_m);
 	}