diff --git a/src/sherpa/worlds/empty.world b/src/sherpa/worlds/empty.world
index 0610a2c..3549b54 100644
--- a/src/sherpa/worlds/empty.world
+++ b/src/sherpa/worlds/empty.world
@@ -1,6 +1,31 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
   <world name="empty">
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin filename="gz-sim-imu-system"
+        name="gz::sim::systems::Imu">
+    </plugin>
+    <plugin
+      filename="gz-sim-contact-system"
+      name="gz::sim::systems::Contact">
+    </plugin>
+
     <light name="sun" type="directional">
       <pose>0 0 20 0 0 0</pose>
       <diffuse>0.8 0.8 0.8 1.0</diffuse>