diff --git a/test/integration/plowing_effect.cc b/test/integration/plowing_effect.cc
index 72719aad2b..b9f1ba448b 100644
--- a/test/integration/plowing_effect.cc
+++ b/test/integration/plowing_effect.cc
@@ -40,7 +40,6 @@ class PlowingEffectTricycle : public ServerFixture
private: physics::CollisionPtr wheelCollisionPtr_ = nullptr;
private: double plowingAngleRigidTerrain_;
- private: int callbackCountRigidTerrain_ = 1;
private: const int maxCallbackCountRigidTerrain_ = 200;
/// constant params from SDF
@@ -77,11 +76,6 @@ class PlowingEffectSpheres : public ServerFixture
////////////////////////////////////////////////////////////////////////
void PlowingEffectTricycle::CallbackRigidTerrain(const ConstContactsPtr &_msg)
{
- if(callbackCountRigidTerrain_ < maxCallbackCountRigidTerrain_)
- {
- callbackCountRigidTerrain_ = callbackCountRigidTerrain_ + 1;
- }
-
std::string wheelCollisionStr = "original_tricycle::wheel_front::collision";
std::string groundCollisionStr = "plowing_effect_ground_plane::link::collision";
diff --git a/test/models/plowing_effect_trisphere_cycle/model.sdf b/test/models/plowing_effect_trisphere_cycle/model.sdf
index b2253ab9b4..774a47e42b 100644
--- a/test/models/plowing_effect_trisphere_cycle/model.sdf
+++ b/test/models/plowing_effect_trisphere_cycle/model.sdf
@@ -251,7 +251,7 @@
4000
16
- 10
+ 10
0.0005
@@ -328,7 +328,7 @@
4000
16
- 10
+ 10
0.0005
@@ -391,7 +391,7 @@
4000
16
- 10
+ 10
0.0005
diff --git a/test/worlds/plowing_effect_test.world b/test/worlds/plowing_effect_test.world
index 34e545fdd9..a3b569fe17 100644
--- a/test/worlds/plowing_effect_test.world
+++ b/test/worlds/plowing_effect_test.world
@@ -12,8 +12,8 @@
+ 0 0 0.4 0 0 0
- 0 0 0 0 0 0
5.0
@@ -47,8 +47,8 @@
+ 0 1 0.4 0 0 0
- 0 1 0 0 0 0
5.0
@@ -96,8 +96,8 @@
+ 0 2 0.4 0 0 0
- 0 2 0 0 0 0
5.0
@@ -145,8 +145,8 @@
+ 0 3 0.4 0 0 0
- 0 3 0 0 0 0
5.0