diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp
index 3601e34a..4338a70d 100644
--- a/testbed/common/ConcaveMesh.cpp
+++ b/testbed/common/ConcaveMesh.cpp
@@ -182,7 +182,8 @@ void ConcaveMesh::render(openglframework::Shader& shader,
     shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
 
     // Set the vertex color
-    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
+    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
     shader.setVector4Uniform("vertexColor", color, false);
 
     // Bind the VAO
diff --git a/testbed/common/Cone.cpp b/testbed/common/Cone.cpp
index cbe25563..bc24c26e 100644
--- a/testbed/common/Cone.cpp
+++ b/testbed/common/Cone.cpp
@@ -166,7 +166,8 @@ void Cone::render(openglframework::Shader& shader,
     shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
 
     // Set the vertex color
-    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
+    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
     shader.setVector4Uniform("vertexColor", color, false);
 
     // Bind the VAO
diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp
index 6c272d36..365713a4 100644
--- a/testbed/common/ConvexMesh.cpp
+++ b/testbed/common/ConvexMesh.cpp
@@ -163,7 +163,8 @@ void ConvexMesh::render(openglframework::Shader& shader,
     shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
 
     // Set the vertex color
-    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
+    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
     shader.setVector4Uniform("vertexColor", color, false);
 
     // Bind the VAO
diff --git a/testbed/common/Cylinder.cpp b/testbed/common/Cylinder.cpp
index 1342eeb5..b96ee839 100644
--- a/testbed/common/Cylinder.cpp
+++ b/testbed/common/Cylinder.cpp
@@ -167,7 +167,8 @@ void Cylinder::render(openglframework::Shader& shader,
     shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
 
     // Set the vertex color
-    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
+    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
     shader.setVector4Uniform("vertexColor", color, false);
 
     // Bind the VAO
diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp
index d7a232aa..7909d281 100644
--- a/testbed/common/Dumbbell.cpp
+++ b/testbed/common/Dumbbell.cpp
@@ -208,7 +208,8 @@ void Dumbbell::render(openglframework::Shader& shader,
     shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
 
     // Set the vertex color
-    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
+    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
     shader.setVector4Uniform("vertexColor", color, false);
 
     // Bind the VAO
diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp
index 58dc6af4..5240c05f 100644
--- a/testbed/common/HeightField.cpp
+++ b/testbed/common/HeightField.cpp
@@ -148,7 +148,8 @@ void HeightField::render(openglframework::Shader& shader,
     shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
 
     // Set the vertex color
-    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
+    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
     shader.setVector4Uniform("vertexColor", color, false);
 
     // Bind the VAO
diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp
index a7a0c880..05072749 100644
--- a/testbed/common/Sphere.cpp
+++ b/testbed/common/Sphere.cpp
@@ -168,7 +168,8 @@ void Sphere::render(openglframework::Shader& shader,
     shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
 
     // Set the vertex color
-    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
+    openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
     shader.setVector4Uniform("vertexColor", color, false);
 
     // Bind the VAO
diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
index f6fda6f2..d5aca068 100644
--- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
+++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
@@ -237,7 +237,6 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name)
 
     // ---------- Create the floor ---------
 
-
     openglframework::Vector3 floorPosition(0, 0, 0);
     mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
 
@@ -252,7 +251,6 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name)
     rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
     material.setBounciness(rp3d::decimal(0.2));
 
-
     // ---------- Create the triangular mesh ---------- //
 
     /*
diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
index fdff04ce..fcbd095d 100644
--- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
+++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
@@ -62,7 +62,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name)
     mBox = new Box(Vector3(3, 3, 3), spherePos, 80.1, mDynamicsWorld);
 
     // Set the sphere color
-    mBox->setColor(mDemoColors[1]);
+    mBox->setColor(mDemoColors[0]);
     mBox->setSleepingColor(mRedColorDemo);
 
     // Change the material properties of the rigid body
@@ -82,8 +82,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name)
     mConcaveMesh->getRigidBody()->setType(rp3d::STATIC);
 
     // Set the box color
-    mConcaveMesh->setColor(mDemoColors[0]);
-    mConcaveMesh->setSleepingColor(mRedColorDemo);
+    mConcaveMesh->setColor(mGreyColorDemo);
+    mConcaveMesh->setSleepingColor(mGreyColorDemo);
 
     // Change the material properties of the rigid body
     rp3d::Material& material = mConcaveMesh->getRigidBody()->getMaterial();
diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp
index a3796337..28246af9 100644
--- a/testbed/scenes/heightfield/HeightFieldScene.cpp
+++ b/testbed/scenes/heightfield/HeightFieldScene.cpp
@@ -55,13 +55,13 @@ HeightFieldScene::HeightFieldScene(const std::string& name) : SceneDemo(name, SC
     for (int i=0; i<NB_BOXES; i++) {
 
         // Position
-        openglframework::Vector3 spherePos(15, 10, 0);
+        openglframework::Vector3 position(15, 10 + 6 * i, 0);
 
         // Create a sphere and a corresponding rigid in the dynamics world
-        mBoxes[i] = new Box(Vector3(3, 3, 3), spherePos, 80.1, mDynamicsWorld);
+        mBoxes[i] = new Box(Vector3(3, 3, 3), position, 80.1, mDynamicsWorld);
 
         // Set the sphere color
-        mBoxes[i]->setColor(mDemoColors[1]);
+        mBoxes[i]->setColor(mDemoColors[2]);
         mBoxes[i]->setSleepingColor(mRedColorDemo);
 
         // Change the material properties of the rigid body
@@ -82,8 +82,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name) : SceneDemo(name, SC
     mHeightField->getRigidBody()->setType(rp3d::STATIC);
 
     // Set the color
-    mHeightField->setColor(mDemoColors[0]);
-    mHeightField->setSleepingColor(mRedColorDemo);
+    mHeightField->setColor(mGreyColorDemo);
+    mHeightField->setSleepingColor(mGreyColorDemo);
 
     // Change the material properties of the rigid body
     rp3d::Material& material = mHeightField->getRigidBody()->getMaterial();