diff --git a/.catkin_tools/profiles/default/devel_collisions.txt b/.catkin_tools/profiles/default/devel_collisions.txt
index ae68512be7721c72607eab17a3b7a6c2ffe6e34a..27a8bcbdcfd9af4e54c051436217a1b07a5cf042 100644
--- a/.catkin_tools/profiles/default/devel_collisions.txt
+++ b/.catkin_tools/profiles/default/devel_collisions.txt
@@ -1,4 +1,4 @@
 /home/matteo/ws_panda/devel/./cmake.lock 42
-/home/matteo/reachability/devel/./cmake.lock 26240
+/home/matteo/reachability/devel/./cmake.lock 26253
 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79
diff --git a/src/mtc/src/impl/moveit_mediator.cpp b/src/mtc/src/impl/moveit_mediator.cpp
index f5effccc3e96ca14165a1b368ae083202fa13cdf..df2869b8f9f652879a7011617f9fdf78a12f26d5 100644
--- a/src/mtc/src/impl/moveit_mediator.cpp
+++ b/src/mtc/src/impl/moveit_mediator.cpp
@@ -243,12 +243,138 @@ 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){
+						ROS_INFO("%s", den.c_str());
+					}
+					ROS_INFO("default entry values");
+					for (auto  den : ps1->allowed_collision_matrix.default_entry_values){
+						ROS_INFO("%i", den);
+					}
+					ROS_INFO("entry names");
+					for (auto  den : ps1->allowed_collision_matrix.entry_names){
+						ROS_INFO("%i", den);
+					}					
+					ROS_INFO("entry values");
+					for (auto  den : ps1->allowed_collision_matrix.entry_values){
+						ROS_INFO("%i", den);
+					}
+					ROS_INFO("[Robot 1] fft");
+					for (auto  ft : ps1->fixed_frame_transforms){
+						ROS_INFO("child frame id: %s, header id: %s, seq %i, time", ft.child_frame_id.c_str(), ft.header.frame_id.c_str(), ft.header.seq);
+					}
+					ROS_INFO("[Robot 1] is_diff");
+					ROS_INFO("is_diff: %i", ps1->is_diff);
+					ROS_INFO("[Robot 1] link padding");
+					for (auto  lp : ps1->link_padding){
+						ROS_INFO("link padding name: %s, padding %d", lp.link_name.c_str(), lp.padding);
+					}
+					ROS_INFO("[Robot 1] link scale");
+					for (auto  ls : ps1->link_scale){
+						ROS_INFO("link scale name: %s, padding %d", ls.link_name.c_str(), ls.scale);
+					}
+					ROS_INFO("[Robot 1] name");
+					ROS_INFO("name: %s", ps1->name.c_str());
+					ROS_INFO("[Robot 1] object color");
+					for (auto  oc : ps1->object_colors){
+						ROS_INFO("object color %f %f %f %f, id %s", oc.color.r, oc.color.g, oc.color.b, oc.color.a, oc.id.c_str());
+					}
+					ROS_INFO("[Robot 1] rmn");
+					ROS_INFO("rmn %s", ps1->robot_model_name.c_str());
+					ROS_INFO("[Robot 1] rs");
+					for (auto  aco : ps1->robot_state.attached_collision_objects){
+						ROS_INFO("aco dp header frame id: %s, seq %i, time", aco.detach_posture.header.frame_id.c_str(), aco.detach_posture.header.seq);
+						for (auto jn : aco.detach_posture.joint_names){
+							ROS_INFO("aco dp joint name: %s", jn.c_str());
+						}
+						ROS_INFO("aco dp Points");
+						for (auto p : aco.detach_posture.points){
+							for (auto pa : p.accelerations) ROS_INFO("aco dp points acc: %d", pa);
+							for (auto pa : p.effort) ROS_INFO("aco dp points effort: %d", pa);
+							ROS_INFO("aco dp points time from start");
+							for (auto pa : p.velocities) ROS_INFO("aco dp points vel: %d", pa);
+							for (auto pa : p.positions) ROS_INFO("aco dp points tra: %d", pa);
+						}	
+						ROS_INFO("aco link names %s", aco.link_name.c_str());
+						ROS_INFO("aco collis obj id %s", aco.object.id.c_str());
+						for (auto p : aco.touch_links) ROS_INFO("aco touch link  %s", p.c_str());
+						ROS_INFO("aco collis obj weight %d", aco.weight);
+					}
+					for (auto p : ps1->world.collision_objects) ROS_INFO("world co  id %s", p.id);
+					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){
+						ROS_INFO("%s", den.c_str());
+					}
+					ROS_INFO("default entry values");
+					for (auto  den : ps2->allowed_collision_matrix.default_entry_values){
+						ROS_INFO("%i", den);
+					}
+					ROS_INFO("entry names");
+					for (auto  den : ps2->allowed_collision_matrix.entry_names){
+						ROS_INFO("%i", den);
+					}					
+					ROS_INFO("entry values");
+					for (auto  den : ps2->allowed_collision_matrix.entry_values){
+						ROS_INFO("%i", den);
+					}
+					ROS_INFO("[Robot 2] fft");
+					for (auto  ft : ps2->fixed_frame_transforms){
+						ROS_INFO("child frame id: %s, header id: %s, seq %i, time", ft.child_frame_id.c_str(), ft.header.frame_id.c_str(), ft.header.seq);
+					}
+					ROS_INFO("[Robot 2] is_diff");
+					ROS_INFO("is_diff: %i", ps2->is_diff);
+
+					ROS_INFO("[Robot 2] link padding");
+					for (auto  lp : ps2->link_padding){
+						ROS_INFO("link padding name: %s, padding %d", lp.link_name.c_str(), lp.padding);
+					}
+					ROS_INFO("[Robot 2] link scale");
+					for (auto  ls : ps2->link_scale){
+						ROS_INFO("link scale name: %s, padding %d", ls.link_name.c_str(), ls.scale);
+					}
+					ROS_INFO("[Robot 2] name");
+					ROS_INFO("name: %s", ps2->name.c_str());
+					ROS_INFO("[Robot 2] object color");
+					for (auto  oc : ps2->object_colors){
+						ROS_INFO("object color %f %f %f %f, id %s", oc.color.r, oc.color.g, oc.color.b, oc.color.a, oc.id.c_str());
+					}
+					ROS_INFO("[Robot 2] rmn");
+					ROS_INFO("rmn %s", ps2->robot_model_name.c_str());
+					ROS_INFO("[Robot 2] rs");
+					for (auto  aco : ps2->robot_state.attached_collision_objects){
+						ROS_INFO("aco dp header frame id: %s, seq %i, time", aco.detach_posture.header.frame_id.c_str(), aco.detach_posture.header.seq);
+						for (auto jn : aco.detach_posture.joint_names){
+							ROS_INFO("aco dp joint name: %s", jn.c_str());
+						}
+						ROS_INFO("aco dp Points");
+						for (auto p : aco.detach_posture.points){
+							for (auto pa : p.accelerations) ROS_INFO("aco dp points acc: %d", pa);
+							for (auto pa : p.effort) ROS_INFO("aco dp points effort: %d", pa);
+							ROS_INFO("aco dp points time from start");
+							for (auto pa : p.velocities) ROS_INFO("aco dp points vel: %d", pa);
+							for (auto pa : p.positions) ROS_INFO("aco dp points tra: %d", pa);
+						}	
+						ROS_INFO("aco link names %s", aco.link_name.c_str());
+						ROS_INFO("aco collis obj id %s", aco.object.id.c_str());
+						for (auto p : aco.touch_links) ROS_INFO("aco touch link  %s", p.c_str());
+						ROS_INFO("aco collis obj weight %d", aco.weight);
+					}
+					for (auto p : ps2->world.collision_objects) ROS_INFO("world co  id %s", p.id);
+					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;