diff --git a/src/mtc/src/impl/moveit_mediator.cpp b/src/mtc/src/impl/moveit_mediator.cpp
index 310cf4d896876d4c2aaa7487e63a8f13213eb007..a97854ca964b7a1a829fcee4581a8d3e2b5bbf99 100644
--- a/src/mtc/src/impl/moveit_mediator.cpp
+++ b/src/mtc/src/impl/moveit_mediator.cpp
@@ -243,7 +243,7 @@ void Moveit_mediator::setup_task(){
 				if (i < tasks[0].front().solution.sub_trajectory.size()){
 					t1 = &tasks[0].front().solution.sub_trajectory[i].trajectory;
 					ps1 = &tasks[0].front().solution.sub_trajectory[i].scene_diff;
-					/*
+					
 					ROS_INFO("[Robot 1] acm");
 					ROS_INFO("default entry names");
 					for (auto  den : ps1->allowed_collision_matrix.default_entry_names){
@@ -306,14 +306,14 @@ void Moveit_mediator::setup_task(){
 					ROS_INFO("world om origin %f %f %f, %f %f %f %f", ps1->world.octomap.origin.position.x, ps1->world.octomap.origin.position.y, ps1->world.octomap.origin.position.z, ps1->world.octomap.origin.orientation.x, ps1->world.octomap.origin.orientation.y, ps1->world.octomap.origin.orientation.z, ps1->world.octomap.origin.orientation.w);
 					ROS_INFO("world om header time, id %s, seq %i", ps1->world.octomap.header.frame_id.c_str(), ps1->world.octomap.header.seq);
 					ROS_INFO("world om Data");
-					*/
+					
 				} 
 
 				if (i < tasks[1].front().solution.sub_trajectory.size()){
 					t2 = &tasks[1].front().solution.sub_trajectory[i].trajectory;
 					ps2 = &tasks[1].front().solution.sub_trajectory[i].scene_diff;
 
-					/*
+					
 					ROS_INFO("[Robot 2] acm");
 					ROS_INFO("default entry names");
 					for (auto  den : ps2->allowed_collision_matrix.default_entry_names){
@@ -377,7 +377,7 @@ void Moveit_mediator::setup_task(){
 					ROS_INFO("world om origin %f %f %f, %f %f %f %f", ps2->world.octomap.origin.position.x, ps2->world.octomap.origin.position.y, ps2->world.octomap.origin.position.z, ps2->world.octomap.origin.orientation.x, ps2->world.octomap.origin.orientation.y, ps2->world.octomap.origin.orientation.z, ps2->world.octomap.origin.orientation.w);
 					ROS_INFO("world om header time, id %s, seq %i", ps2->world.octomap.header.frame_id.c_str(), ps2->world.octomap.header.seq);
 					ROS_INFO("world om Data");
-					*/
+					
 				}
 
 				std::vector<std::thread> th;