diff --git a/include/gz/sim/components/LinearVelocityReset.hh b/include/gz/sim/components/LinearVelocityReset.hh
index c7343105f30..c54159134c3 100644
--- a/include/gz/sim/components/LinearVelocityReset.hh
+++ b/include/gz/sim/components/LinearVelocityReset.hh
@@ -31,7 +31,7 @@ namespace sim
 inline namespace GZ_SIM_VERSION_NAMESPACE {
 namespace components
 {
-  /// \brief Linear velocity of an entity in its own frame
+  /// \brief Linear velocity of an entity in it's own frame
   /// and in SI units (m/s). The linear velocity is
   /// represented by gz::math::Vector3d.
   using LinearVelocityReset = Component<math::Vector3d ,
diff --git a/test/integration/physics_system.cc b/test/integration/physics_system.cc
index 9e595af8209..f996e533d8d 100644
--- a/test/integration/physics_system.cc
+++ b/test/integration/physics_system.cc
@@ -954,9 +954,9 @@ TEST_F(PhysicsSystemFixture,
     EXPECT_EQ(math::Vector3d::Zero, childLinkAngularVel);
   }
 
-  const math:Posed pose0(0, 0, 1, 0, 0, 0);
+  const math:Pose3d pose0(0, 0, 1, 0, 0, 0);
   // To avoid collision with ground plane while rotating
-  model.SetWorldPoseCmd(pose0);
+  model.SetWorldPoseCmd(*ecm, pose0);
   server.Run(true, 1, false);
 
   const math::Vector3d vel0(0.1, 5.0, 0.1);