diff --git a/worlds/moving_platform.sdf b/worlds/moving_platform.sdf
index f407f32..5871d3a 100644
--- a/worlds/moving_platform.sdf
+++ b/worlds/moving_platform.sdf
@@ -6,155 +6,6 @@
       <real_time_factor>1.0</real_time_factor>
       <real_time_update_rate>250</real_time_update_rate>
     </physics>
-    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
-    <plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
-    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
-    <plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
-    <plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
-    <plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
-    <plugin name="gz::sim::systems::AirSpeed" filename="gz-sim-air-speed-system"/>
-    <plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
-    <plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
-    <plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
-      <render_engine>ogre2</render_engine>
-    </plugin>
-    <gui fullscreen="false">
-      <!-- 3D scene -->
-      <plugin filename="MinimalScene" name="3D View">
-        <gz-gui>
-          <title>3D View</title>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="string" key="state">docked</property>
-        </gz-gui>
-        <engine>ogre2</engine>
-        <scene>scene</scene>
-        <ambient_light>0.4 0.4 0.4</ambient_light>
-        <background_color>0.8 0.8 0.8</background_color>
-        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
-        <camera_clip>
-          <near>0.25</near>
-          <far>25000</far>
-        </camera_clip>
-      </plugin>
-      <!-- Plugins that add functionality to the scene -->
-      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
-        <gz-gui>
-          <property key="state" type="string">floating</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </gz-gui>
-      </plugin>
-      <plugin filename="GzSceneManager" name="Scene Manager">
-        <gz-gui>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </gz-gui>
-      </plugin>
-      <plugin filename="InteractiveViewControl" name="Interactive view control">
-        <gz-gui>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </gz-gui>
-      </plugin>
-      <plugin filename="CameraTracking" name="Camera Tracking">
-        <gz-gui>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </gz-gui>
-      </plugin>
-      <plugin filename="MarkerManager" name="Marker manager">
-        <gz-gui>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </gz-gui>
-      </plugin>
-      <plugin filename="SelectEntities" name="Select Entities">
-        <gz-gui>
-          <anchors target="Select entities">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </gz-gui>
-      </plugin>
-      <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
-        <gz-gui>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </gz-gui>
-      </plugin>
-      <plugin filename="Spawn" name="Spawn Entities">
-        <gz-gui>
-          <anchors target="Select entities">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">5</property>
-          <property key="height" type="double">5</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-        </gz-gui>
-      </plugin>
-      <plugin name="World control" filename="WorldControl">
-        <gz-gui>
-          <title>World control</title>
-          <property type="bool" key="showTitleBar">0</property>
-          <property type="bool" key="resizable">0</property>
-          <property type="double" key="height">72</property>
-          <property type="double" key="width">121</property>
-          <property type="double" key="z">1</property>
-          <property type="string" key="state">floating</property>
-          <anchors target="3D View">
-            <line own="left" target="left"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </gz-gui>
-        <play_pause>1</play_pause>
-        <step>1</step>
-        <start_paused>1</start_paused>
-      </plugin>
-      <plugin name="World stats" filename="WorldStats">
-        <gz-gui>
-          <title>World stats</title>
-          <property type="bool" key="showTitleBar">0</property>
-          <property type="bool" key="resizable">0</property>
-          <property type="double" key="height">110</property>
-          <property type="double" key="width">290</property>
-          <property type="double" key="z">1</property>
-          <property type="string" key="state">floating</property>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </gz-gui>
-        <sim_time>1</sim_time>
-        <real_time>1</real_time>
-        <real_time_factor>1</real_time_factor>
-        <iterations>1</iterations>
-      </plugin>
-      <plugin name="Entity tree" filename="EntityTree"/>
-    </gui>
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type="adiabatic"/>
@@ -186,7 +37,7 @@
           <geometry>
             <plane>
               <normal>0 0 1</normal>
-              <size>100 100</size>
+              <size>500 500</size>
             </plane>
           </geometry>
           <material>
@@ -248,13 +99,6 @@
           <update_rate>30</update_rate>
         </sensor>
       </link>
-      <!-- plugin for sending direct velocity commands -->
-	  <plugin
-            filename="gz-sim-velocity-control-system"
-            name="gz::sim::systems::VelocityControl">
-        <link_name>platform_link</link_name>
-	  </plugin>
-      <plugin name="custom::MovingPlatformController" filename="libMovingPlatformController.so" />
     </model>
     <light name="sunUTC" type="directional">
       <pose>0 0 500 0 -0 0</pose>