diff --git a/models/dave_worlds/worlds/dave_Santorini.world b/models/dave_worlds/worlds/dave_Santorini.world
index 48278a81..865d5001 100644
--- a/models/dave_worlds/worlds/dave_Santorini.world
+++ b/models/dave_worlds/worlds/dave_Santorini.world
@@ -339,5 +339,17 @@
 
     </gui>
 
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
   </world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/dave_worlds/worlds/dave_bimanual_example.world
index bcdb8bee..9fe25b8f 100644
--- a/models/dave_worlds/worlds/dave_bimanual_example.world
+++ b/models/dave_worlds/worlds/dave_bimanual_example.world
@@ -378,5 +378,18 @@
 			</plugin>
 
 		</gui>
+
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
 	</world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_electrical_mating.world b/models/dave_worlds/worlds/dave_electrical_mating.world
index 8c26ec9f..efa0d543 100644
--- a/models/dave_worlds/worlds/dave_electrical_mating.world
+++ b/models/dave_worlds/worlds/dave_electrical_mating.world
@@ -369,5 +369,17 @@
 
     </gui>
 
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
   </world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_graded_seabed.world b/models/dave_worlds/worlds/dave_graded_seabed.world
index f4bc70a7..b6a4f90f 100644
--- a/models/dave_worlds/worlds/dave_graded_seabed.world
+++ b/models/dave_worlds/worlds/dave_graded_seabed.world
@@ -93,5 +93,17 @@
       <pose>0 0 0 0 0 1.5708</pose>
     </include>
 
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
   </world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index 7e54167f..bff398fa 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -570,5 +570,18 @@
       </plugin>
 
     </gui>
+
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
   </world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index 64bf3c92..28a4cbb4 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -481,5 +481,17 @@
 
     </gui>
 
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
   </world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
index 10adc4df..1bb9ca82 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
@@ -109,5 +109,17 @@
       <pose>10 5 -90 0 0 0</pose>
     </include>
 
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
   </world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
index 7c47f1ef..f69dcd30 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
@@ -94,5 +94,18 @@
         <projection_type>perspective</projection_type>
       </camera>
     </gui>
+
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
   </world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_plug_and_socket.world b/models/dave_worlds/worlds/dave_plug_and_socket.world
index c3e1f26d..a48b6065 100644
--- a/models/dave_worlds/worlds/dave_plug_and_socket.world
+++ b/models/dave_worlds/worlds/dave_plug_and_socket.world
@@ -369,5 +369,18 @@
       </plugin>
 
     </gui>
+
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
   </world>
 </sdf>