diff --git a/resources/objects/plane_colored.urdf b/resources/objects/plane_colored.urdf
new file mode 100644
index 000000000..2eef8d27f
--- /dev/null
+++ b/resources/objects/plane_colored.urdf
@@ -0,0 +1,26 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="9.4 2.5 0"/>
+      <geometry>
+				<mesh filename="plane.obj" scale="0.64 0.17 0.4"/>
+      </geometry>
+       <material name="white">
+        <color rgba="0.89 0.72 0.56 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="9.4 2.5 0"/>
+      <geometry>
+				<mesh filename="plane.obj" scale="0.64 0.17 0.4"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/src/pycram/ros_utils/viz_marker_publisher.py b/src/pycram/ros_utils/viz_marker_publisher.py
index 613bfbebb..5a64a71b4 100644
--- a/src/pycram/ros_utils/viz_marker_publisher.py
+++ b/src/pycram/ros_utils/viz_marker_publisher.py
@@ -8,7 +8,8 @@
 from std_msgs.msg import ColorRGBA
 from visualization_msgs.msg import Marker, MarkerArray
 
-from ..datastructures.dataclasses import BoxVisualShape, CylinderVisualShape, MeshVisualShape, SphereVisualShape
+from pycrap import Floor
+from ..datastructures.dataclasses import BoxVisualShape, CylinderVisualShape, MeshVisualShape, SphereVisualShape, Color
 from ..datastructures.pose import Pose, Transform
 from ..datastructures.world import World
 from ..designator import ObjectDesignatorDescription
@@ -16,6 +17,7 @@
 from ..ros.logging import loginfo, logwarn, logerr
 from ..ros.publisher import create_publisher
 from ..ros.ros_tools import sleep
+from ..world_concepts.world_object import Object
 
 
 class VizMarkerPublisher:
@@ -23,7 +25,7 @@ class VizMarkerPublisher:
     Publishes an Array of visualization marker which represent the situation in the World
     """
 
-    def __init__(self, topic_name="/pycram/viz_marker", interval=0.1):
+    def __init__(self, topic_name="/pycram/viz_marker", interval=0.1, spawn_floor = True):
         """
         The Publisher creates an Array of Visualization marker with a Marker for each link of each Object in the
         World. This Array is published with a rate of interval.
@@ -34,6 +36,9 @@ def __init__(self, topic_name="/pycram/viz_marker", interval=0.1):
         self.topic_name = topic_name
         self.interval = interval
 
+        if spawn_floor:
+            _ = Object("plane_colored", Floor, f"plane_colored.urdf")
+
         self.pub = create_publisher(self.topic_name, MarkerArray, queue_size=10)
 
         self.thread = threading.Thread(target=self._publish)