diff --git a/examples/worlds/ackermann_steering.sdf b/examples/worlds/ackermann_steering.sdf
index 7dc5408ff2..81a56a11b7 100644
--- a/examples/worlds/ackermann_steering.sdf
+++ b/examples/worlds/ackermann_steering.sdf
@@ -315,12 +315,12 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
-      
+
       <link name="front_right_wheel_steering_link">
         <pose>0.554283 -0.5 0.02 0 0 0</pose>
         <inertial>
@@ -340,8 +340,8 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
@@ -360,7 +360,7 @@
           <use_parent_model_frame>1</use_parent_model_frame>
         </axis>
       </joint>
-      
+
       <joint name="front_right_wheel_steering_joint" type="revolute">
         <parent>chassis</parent>
         <child>front_right_wheel_steering_link</child>
diff --git a/test/worlds/ackermann_steering.sdf b/test/worlds/ackermann_steering.sdf
index f93f0750e0..28a3b3d432 100644
--- a/test/worlds/ackermann_steering.sdf
+++ b/test/worlds/ackermann_steering.sdf
@@ -259,12 +259,12 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
-      
+
       <link name="front_right_wheel_steering_link">
         <pose>0.554283 -0.5 0.02 0 0 0</pose>
         <inertial>
@@ -284,8 +284,8 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
@@ -304,7 +304,7 @@
           <use_parent_model_frame>1</use_parent_model_frame>
         </axis>
       </joint>
-      
+
       <joint name="front_right_wheel_steering_joint" type="revolute">
         <parent>chassis</parent>
         <child>front_right_wheel_steering_link</child>
diff --git a/test/worlds/ackermann_steering_custom_frame_id.sdf b/test/worlds/ackermann_steering_custom_frame_id.sdf
index 0ea704d323..e3b57c9c6d 100644
--- a/test/worlds/ackermann_steering_custom_frame_id.sdf
+++ b/test/worlds/ackermann_steering_custom_frame_id.sdf
@@ -303,12 +303,12 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
-      
+
       <link name="front_right_wheel_steering_link">
         <pose>0.554283 -0.5 0.02 0 0 0</pose>
         <inertial>
@@ -328,8 +328,8 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
@@ -348,7 +348,7 @@
           <use_parent_model_frame>1</use_parent_model_frame>
         </axis>
       </joint>
-      
+
       <joint name="front_right_wheel_steering_joint" type="revolute">
         <parent>chassis</parent>
         <child>front_right_wheel_steering_link</child>
diff --git a/test/worlds/ackermann_steering_custom_topics.sdf b/test/worlds/ackermann_steering_custom_topics.sdf
index d86dbc3cfe..607fc3af25 100644
--- a/test/worlds/ackermann_steering_custom_topics.sdf
+++ b/test/worlds/ackermann_steering_custom_topics.sdf
@@ -303,12 +303,12 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
-      
+
       <link name="front_right_wheel_steering_link">
         <pose>0.554283 -0.5 0.02 0 0 0</pose>
         <inertial>
@@ -328,8 +328,8 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
@@ -348,7 +348,7 @@
           <use_parent_model_frame>1</use_parent_model_frame>
         </axis>
       </joint>
-      
+
       <joint name="front_right_wheel_steering_joint" type="revolute">
         <parent>chassis</parent>
         <child>front_right_wheel_steering_link</child>
diff --git a/test/worlds/ackermann_steering_limited_joints_pub.sdf b/test/worlds/ackermann_steering_limited_joints_pub.sdf
index 7e29c8f173..bf2a494140 100644
--- a/test/worlds/ackermann_steering_limited_joints_pub.sdf
+++ b/test/worlds/ackermann_steering_limited_joints_pub.sdf
@@ -303,12 +303,12 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
-      
+
       <link name="front_right_wheel_steering_link">
         <pose>0.554283 -0.5 0.02 0 0 0</pose>
         <inertial>
@@ -328,8 +328,8 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
@@ -348,7 +348,7 @@
           <use_parent_model_frame>1</use_parent_model_frame>
         </axis>
       </joint>
-      
+
       <joint name="front_right_wheel_steering_joint" type="revolute">
         <parent>chassis</parent>
         <child>front_right_wheel_steering_link</child>
diff --git a/test/worlds/ackermann_steering_slow_odom.sdf b/test/worlds/ackermann_steering_slow_odom.sdf
index 725d387dd0..4f17959603 100644
--- a/test/worlds/ackermann_steering_slow_odom.sdf
+++ b/test/worlds/ackermann_steering_slow_odom.sdf
@@ -259,12 +259,12 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
-      
+
       <link name="front_right_wheel_steering_link">
         <pose>0.554283 -0.5 0.02 0 0 0</pose>
         <inertial>
@@ -284,8 +284,8 @@
             </cylinder>
           </geometry>
           <material>
-            <ambient>11 11 11</ambient>
-            <diffuse>11 11 11</diffuse>
+            <ambient>1 1 1</ambient>
+            <diffuse>1 1 1</diffuse>
           </material>
         </visual>
       </link>
@@ -304,7 +304,7 @@
           <use_parent_model_frame>1</use_parent_model_frame>
         </axis>
       </joint>
-      
+
       <joint name="front_right_wheel_steering_joint" type="revolute">
         <parent>chassis</parent>
         <child>front_right_wheel_steering_link</child>