<?xml version="1.0"?> 
<sdf version="1.4">
  <world name="animated_box_world">
 
    <!-- Ground Plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
 
    <include>
      <uri>model://sun</uri>
    </include>
 
    <model name="box">
      <pose>2.5 0 0 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>0.3 0.3 1.5</size>
            </box>
          </geometry>
        </collision>
 
        <visual name="visual">
          <geometry>
            <box>
              <size>0.3 0.3 1.5</size>
            </box>
          </geometry>
        </visual>
      </link>
 
      <plugin name="push_animate" filename="libanimated_box.so"/>
    </model>        
  </world>
</sdf>