From 57b3c26ab0048c4fa163de3074347ecfcaee440b Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 23 Jul 2023 11:05:51 -0400
Subject: [PATCH] Tools/simulation/gz: load ApplyLinkWrench plugin by default
 (#21874)

 - this can be useful for applying arbitrary forces via ignition transport like hand launching a vehicle by throwing it in the air
---
 Tools/simulation/gz/worlds/default.sdf | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/simulation/gz/worlds/default.sdf b/Tools/simulation/gz/worlds/default.sdf
index 4b6f384002..6ba98ab149 100644
--- a/Tools/simulation/gz/worlds/default.sdf
+++ b/Tools/simulation/gz/worlds/default.sdf
@@ -11,6 +11,7 @@
     <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::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
     <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
       <render_engine>ogre2</render_engine>
     </plugin>