diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
index 774b282fbe2cac8de48aaf5092332ca6a48e4daf..f4d16070b84e4d29aca1742ce0356fb0c69ea5b0 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
@@ -51,28 +51,9 @@ namespace armarx::armem::attachment
         memoryReader.setReadingMemory(result.proxy);
     }
 
-    std::optional<armem::MemoryID> Writer::add(const ObjectAttachment& attachment)
-    {
-        return commit(attachment, true);
-    }
 
-    std::optional<armem::MemoryID> Writer::remove(const ObjectAttachment& attachment)
+    std::optional<armem::MemoryID> Writer::commit(const ObjectAttachment& attachment)
     {
-        return commit(attachment, false);
-    }
-
-    std::optional<armem::MemoryID> Writer::add(const ArticulatedObjectAttachment& attachment)
-    {
-        return commit(attachment, true);
-    }
-
-    std::optional<armem::MemoryID> Writer::remove(const ArticulatedObjectAttachment& attachment)
-    {
-        return commit(attachment, false);
-    }
-
-
-    std::optional<armem::MemoryID> Writer::commit(const ObjectAttachment& attachment, const bool active){
         std::lock_guard g{memoryWriterMutex};
 
         const auto result = memoryWriter.addSegment(properties.coreAttachmentsSegmentName, properties.providerName);
@@ -96,7 +77,6 @@ namespace armarx::armem::attachment
 
         arondto::attachment::ObjectAttachment aronAttachment;
         toAron(aronAttachment, attachment);
-        aronAttachment.active = active;
 
         update.instancesData = {aronAttachment.toAron()};
         update.timeCreated   = timestamp;
@@ -116,7 +96,8 @@ namespace armarx::armem::attachment
 
     }
 
-    std::optional<armem::MemoryID> Writer::commit(const ArticulatedObjectAttachment& attachment, const bool active){
+    std::optional<armem::MemoryID> Writer::commit(const ArticulatedObjectAttachment& attachment)
+    {
         std::lock_guard g{memoryWriterMutex};
 
         const auto result = memoryWriter.addSegment(properties.coreAttachmentsSegmentName, properties.providerName);
@@ -140,7 +121,6 @@ namespace armarx::armem::attachment
 
         arondto::attachment::ArticulatedObjectAttachment aronAttachment;
         toAron(aronAttachment, attachment);
-        aronAttachment.active = active;
 
         update.instancesData = {aronAttachment.toAron()};
         update.timeCreated   = timestamp;
@@ -159,6 +139,6 @@ namespace armarx::armem::attachment
         return updateResult.snapshotID;
     }
 
-    
+
 
 }  // namespace armarx::armem::attachment
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.h b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.h
index b464811ea7ee1e8ccbd8b92dc36923f82ba0579f..f20421d4b27d9e2fc10e106e238a9684fca9d2cf 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.h
@@ -44,17 +44,10 @@ namespace armarx::armem::attachment
         void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
         void connect();
 
-        std::optional<armem::MemoryID> add(const ObjectAttachment& attachment);
-        std::optional<armem::MemoryID> remove(const ObjectAttachment& attachment);
-
-        std::optional<armem::MemoryID> add(const ArticulatedObjectAttachment& attachment);
-        std::optional<armem::MemoryID> remove(const ArticulatedObjectAttachment& attachment);
-
-        // const std::string& getPropertyPrefix() const override;
+        std::optional<armem::MemoryID> commit(const ObjectAttachment& attachment);
+        std::optional<armem::MemoryID> commit(const ArticulatedObjectAttachment&);
 
     private:
-        std::optional<armem::MemoryID> commit(const ObjectAttachment& attachment, bool active);
-        std::optional<armem::MemoryID> commit(const ArticulatedObjectAttachment& attachment, bool active);
 
         struct Properties
         {