During March 2026, this developer enhanced the TouchPlugin within the gazebosim/gz-sim repository by implementing automatic creation of contact sensors for collisions when none are present. Using C++ and leveraging their expertise in plugin development and robotics simulation, they streamlined the simulation setup process, allowing users to avoid manual sensor configuration. The technical approach involved extending the plugin’s logic to detect missing contact sensors and instantiate them as needed, thereby improving usability and flexibility across diverse simulation environments. This work focused on a single feature addition, demonstrating depth in understanding simulation workflows and contributing targeted improvements to the robotics simulation ecosystem.