From 588eba5c0f313390c98d46bffc2e7e95a0035755 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Sun, 18 Aug 2024 16:26:23 -0700
Subject: [PATCH] updated contact sensor plugin from ignition

---
 models/dave_worlds/worlds/dave_bimanual_example.world | 6 ++----
 models/dave_worlds/worlds/new_dvl.world               | 5 ++---
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/dave_worlds/worlds/dave_bimanual_example.world
index 1b2f1e50..56287925 100644
--- a/models/dave_worlds/worlds/dave_bimanual_example.world
+++ b/models/dave_worlds/worlds/dave_bimanual_example.world
@@ -33,11 +33,9 @@
 			filename="gz-sim-scene-broadcaster-system"
 			name="gz::sim::systems::SceneBroadcaster">
 		</plugin>
-		<plugin
-			filename="ignition-gazebo-contact-system"
-			name="ignition::gazebo::systems::Contact">
+		<plugin filename="gz-sim-contact-system"
+				name="gz::sim::systems::Contact">
 		</plugin>
-
 		<!-- Origin placed somewhere in the middle of the North Sea -->
 		<spherical_coordinates>
 			<latitude_deg>56.71897669633431</latitude_deg>
diff --git a/models/dave_worlds/worlds/new_dvl.world b/models/dave_worlds/worlds/new_dvl.world
index f231fac1..0d39c147 100644
--- a/models/dave_worlds/worlds/new_dvl.world
+++ b/models/dave_worlds/worlds/new_dvl.world
@@ -42,9 +42,8 @@
 			filename="gz-sim-scene-broadcaster-system"
 			name="gz::sim::systems::SceneBroadcaster">
 		</plugin>
-		<plugin
-			filename="ignition-gazebo-contact-system"
-			name="ignition::gazebo::systems::Contact">
+		<plugin filename="gz-sim-contact-system"
+				name="gz::sim::systems::Contact">
 		</plugin>
 		<plugin
 			filename="gz-sim-sensors-system"