diff --git a/examples/worlds/joint_controller.sdf b/examples/worlds/joint_controller.sdf
index 7152726bfa..65cf6fe938 100644
--- a/examples/worlds/joint_controller.sdf
+++ b/examples/worlds/joint_controller.sdf
@@ -39,7 +39,7 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
     <model name="joint_controller_demo">
-      <pose>0 0 0 0 1.57 0</pose>
+      <pose>0 0 0 0 -1.57 0</pose>
       <link name="base_link">
         <pose>0.0 0.0 0.0 0 0 0</pose>
         <inertial>
@@ -91,6 +91,8 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
+            <diffuse>0.2 0.8 0.2 1</diffuse>
+            <specular>0.2 0.8 0.2 1</specular>
           </material>
         </visual>
         <collision name="collision">
@@ -125,7 +127,7 @@
     </model>
 
     <model name="joint_controller_demo_2">
-      <pose>0 0.5 0 0 1.57 0</pose>
+      <pose>0 0.5 0 0 -1.57 0</pose>
       <link name="base_link">
         <pose>0.0 0.0 0.0 0 0 0</pose>
         <inertial>
@@ -177,6 +179,8 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
+            <diffuse>0.2 0.8 0.2 1</diffuse>
+            <specular>0.2 0.8 0.2 1</specular>
           </material>
         </visual>
         <collision name="collision">