diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp
index 1f350623e2d250bc7c0dd029e4ea754f567402b5..f4af9c2bd0d78e84e1045b8ae1aec9a7f3fb41c8 100644
--- a/src/impl/moveit_mediator.cpp
+++ b/src/impl/moveit_mediator.cpp
@@ -908,18 +908,18 @@ void Moveit_mediator::task_planner(){
 			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& 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);
 	}