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Hi,

you have to set up the GAZEBO_PLUGIN_PATH to your plugin file:

export GAZEBO_PLUGIN_PATH=<path_to_your_lib>/:${GAZEBO_PLUGIN_PATH}

you should add this line to your ~/.bashrc file, and then source it.

Another thing, you should fix the sdf since it is an older version, you could run this tool for that:

$ gzsdf convert <path_to_sdf>/factory.sdf

Cheers, Andrei