diff --git a/Tools/simulation/gz/worlds/default.sdf b/Tools/simulation/gz/worlds/default.sdf
index 4b6f3840028..6ba98ab1493 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>