From 28acf1fc614fd2b08f66bb32bb2853a8841da9cd Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Tue, 27 Aug 2024 14:04:15 -0700
Subject: [PATCH 1/2] Remove <gz:system_priority/> from test worlds

The system priority for the force-torque system was
explicitly set using XML tags in several test worlds
in #2494. These XML tags are no longer needed since #2500
was merged, so remove them now.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 python/test/joint_test.sdf   | 4 +---
 test/worlds/force_torque.sdf | 4 +---
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/python/test/joint_test.sdf b/python/test/joint_test.sdf
index 4fd300ffd7..078f3974b7 100644
--- a/python/test/joint_test.sdf
+++ b/python/test/joint_test.sdf
@@ -2,9 +2,7 @@
 <sdf version="1.6">
     <world name="world_test">
         <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics" />
-        <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque">
-            <gz:system_priority>10</gz:system_priority>
-        </plugin>
+        <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
         <model name="model_test">
 
             <link name="link_test_1">
diff --git a/test/worlds/force_torque.sdf b/test/worlds/force_torque.sdf
index 9a06c97c80..0c90ff63bb 100644
--- a/test/worlds/force_torque.sdf
+++ b/test/worlds/force_torque.sdf
@@ -5,9 +5,7 @@
       <real_time_factor>0</real_time_factor>
     </physics>
     <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics" />
-    <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque">
-      <gz:system_priority>10</gz:system_priority>
-    </plugin>
+    <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
     <plugin filename='gz-sim-scene-broadcaster-system' name='gz::sim::systems::SceneBroadcaster' />
     <model name="ground_plane">
       <static>true</static>

From d4bc17d1de40e9240d1fef15e5540fa13ca626f6 Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Tue, 27 Aug 2024 14:22:13 -0700
Subject: [PATCH 2/2] Fix outdated comments

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 src/systems/physics/Physics.cc            | 2 +-
 src/systems/user_commands/UserCommands.cc | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
index ece7e32713..7038e2e143 100644
--- a/src/systems/physics/Physics.cc
+++ b/src/systems/physics/Physics.cc
@@ -767,7 +767,7 @@ Physics::Physics() : System(), dataPtr(std::make_unique<PhysicsPrivate>())
 //////////////////////////////////////////////////
 System::PriorityType Physics::ConfigurePriority()
 {
-  // Use constant from SystemPriorityConstants.hh
+  // Use constant from System.hh
   return ::gz::sim::systems::kPhysicsPriority;
 }
 
diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc
index f7e5c5ad8e..0eedaa27e5 100644
--- a/src/systems/user_commands/UserCommands.cc
+++ b/src/systems/user_commands/UserCommands.cc
@@ -621,7 +621,7 @@ bool UserCommandsInterface::HasContactSensor(const Entity _collision)
 //////////////////////////////////////////////////
 System::PriorityType UserCommands::ConfigurePriority()
 {
-  // Use constant from SystemPriorityConstants.hh
+  // Use constant from System.hh
   return ::gz::sim::systems::kUserCommandsPriority;
 }