diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
index a1b619bc6826519abae30c6d570d4e5e2c790547..3b3516ff0b6257718f15ecd201bb5dbb275d4a0f 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
@@ -140,84 +140,9 @@ void CoinVisualizationNode::createTriMeshModel()
 	else
 		triMeshModel.reset(new TriMeshModel());
 
-//    if (primitives.size() != 0 && !visualization)
-//    {
-//        std::vector<PrimitivePtr>::iterator it;
-//        Eigen::Matrix4f currentTransform = Eigen::Matrix4f::Identity();
-//        SoNode* newVis = new SoSeparator;
-//        newVis->ref();
-//        for (it = primitives.begin(); it != primitives.end(); it++) {
-//            PrimitivePtr p = *it;
-//            VisualizationNodePtr visNode;
-//            CoinVisualizationFactory vf;
-
-//            if (p->type == Box::TYPE)
-//            {
-//                Box* box = boost::dynamic_pointer_cast<Box>(p).get();
-//                visNode = vf.createBox(box->width, box->height, box->depth);
-////                triMesh = visNode->getTriMeshModel();
-//            } else if (p->type == Sphere::TYPE)
-//            {
-//                Sphere* sphere = boost::dynamic_pointer_cast<Sphere>(p).get();
-//                visNode = vf.createSphere(sphere->radius);
-////                triMesh = visNode->getTriMeshModel();
-//            } else
-//            {
-//                VR_ERROR << "Unknown primitive" << std::endl;
-//            }
-
-//            if (visNode)
-//                newVis->addChild(vf.getCoinVisualization(visNode));
-//        }
-//        visualization = newVis;
-//        std::vector<PrimitivePtr>::iterator it;
-//        Eigen::Matrix4f currentTransform = Eigen::Matrix4f::Identity();
-//        for (it = primitives.begin(); it != primitives.end(); it++) {
-//            PrimitivePtr p = *it;
-//            currentTransform *= p->transform;
-//            VisualizationNodePtr visNode;
-//            TriMeshModelPtr triMesh;
-
-//            CoinVisualizationFactory vf;
-//            if (p->type == Box::TYPE)
-//            {
-//                Box* box = boost::dynamic_pointer_cast<Box>(p).get();
-//                visNode = vf.createBox(box->width, box->height, box->depth);
-//                triMesh = visNode->getTriMeshModel();
-//            } else if (p->type == Sphere::TYPE)
-//            {
-//                Sphere* sphere = boost::dynamic_pointer_cast<Sphere>(p).get();
-//                visNode = vf.createSphere(sphere->radius);
-//                triMesh = visNode->getTriMeshModel();
-//            }
-
-//            if (visNode)
-//            {
-//                std::vector<MathTools::TriangleFace> faces = triMesh->faces;
-//                std::vector<Eigen::Vector3f> vertices = triMesh->vertices;
-
-//                for (std::vector<Eigen::Vector3f>::iterator it = vertices.begin(); it != vertices.end(); it++)
-//                {
-//                    Eigen::Vector4f v;
-//                    v << (*it).x(), (*it).y(), (*it).z(), 1.f;
-//                    v = currentTransform * v;
-//                    (*it) = v.head(3);
-//                }
-
-//                for (std::vector<MathTools::TriangleFace>::iterator it = faces.begin(); it != faces.end(); it++)
-//                {
-//                    triMeshModel->addTriangleWithFace(vertices[it->id1], vertices[it->id2], vertices[it->id3]);
-//                }
-//            }
-//        }
-//    }
-
-//    if (visualization)
-//    {
-        SoCallbackAction ca;
-        ca.addTriangleCallback(SoShape::getClassTypeId(), &CoinVisualizationNode::InventorTriangleCB, triMeshModel.get());
-        ca.apply(visualization);
-//    }
+    SoCallbackAction ca;
+    ca.addTriangleCallback(SoShape::getClassTypeId(), &CoinVisualizationNode::InventorTriangleCB, triMeshModel.get());
+    ca.apply(visualization);
 }