diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp
index 042d791e5703ed2195a19dd80e6d17ad2e3e4a0d..adf09aef46c47eb6c5f40c0444a46e15f91e8eb0 100644
--- a/src/impl/moveit_mediator.cpp
+++ b/src/impl/moveit_mediator.cpp
@@ -898,8 +898,8 @@ void Moveit_mediator::task_planner(){
 					auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
 					th.push_back(std::thread(&Moveit_mediator::parallel_exec, this, std::ref(*mr), exec.second.first));
 					//mr->mgi()->execute(exec.second.first);
-					manipulate_acm(mr, exec.second.second);
-					merge_ps(ps_m, exec.second.second, mr);
+					//manipulate_acm(mr, exec.second.second);
+					//merge_ps(ps_m, exec.second.second, mr);
 				}
 			}
 		}
@@ -908,8 +908,8 @@ void Moveit_mediator::task_planner(){
 		for(auto& t : th){
 			if(t.joinable()) t.join();
 		}
-		merge_acm(ps_m);
-		planning_scene_diff_publisher_->publish(ps_m);
+		//merge_acm(ps_m);
+		//planning_scene_diff_publisher_->publish(ps_m);
 	}