diff --git a/source/ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.cpp b/source/ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.cpp
index c9132f5841b5e04844de344084975f6bdeb7cf2d..92a7e63c47090cec15d9c9ad8deadd5cd4a8facc 100644
--- a/source/ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.cpp
+++ b/source/ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.cpp
@@ -240,7 +240,7 @@ namespace armarx
         auto l = getScopedLock();
         floorVisu->removeAllChildren();
         SoNode* n = (SoNode*)CoinVisualizationFactory::CreatePlaneVisualization(
-            floorPos, floorUp, floorExtendMM, 0.0f, true, 0.5f, 0.5f, 0.5f, floorTexture);
+            floorPos, floorUp, floorExtendMM, true, CoinVisualizationFactory::Color::Gray(), floorTexture);
         if (n)
         {
             ARMARX_TRACE;
diff --git a/source/ArmarXSimulation/components/LaserScannerSimulation/LaserScannerSimulation.cpp b/source/ArmarXSimulation/components/LaserScannerSimulation/LaserScannerSimulation.cpp
index 2dbfb0c414ac32ff58202584fbd9231bb48620a0..aca582031be772925ad49ba0e05d9d18c7bfdfef 100644
--- a/source/ArmarXSimulation/components/LaserScannerSimulation/LaserScannerSimulation.cpp
+++ b/source/ArmarXSimulation/components/LaserScannerSimulation/LaserScannerSimulation.cpp
@@ -213,7 +213,7 @@ namespace armarx::laser_scanner_simulation
         // collision checking by sliding an object with the grid step size over the grid map
         float boxSize = 1.1f * gridCellSize;
         VirtualRobot::VisualizationNodePtr boxVisu =
-            factory->createBox(boxSize, boxSize, boxSize, 0.0f, 1.0f, 0.0f);
+            factory->createBox(boxSize, boxSize, boxSize, VirtualRobot::VisualizationFactory::Color::Green());
         VirtualRobot::CollisionModelPtr boxCollisionModel(
             new VirtualRobot::CollisionModel(boxVisu, "", collisionChecker));
         VirtualRobot::SceneObjectPtr box(