diff --git a/include/sdf/Actor.hh b/include/sdf/Actor.hh
index a199627ca..c75a4c71e 100644
--- a/include/sdf/Actor.hh
+++ b/include/sdf/Actor.hh
@@ -20,8 +20,8 @@
 #include <memory>
 #include <string>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/AirPressure.hh b/include/sdf/AirPressure.hh
index 649e0edfa..044e03968 100644
--- a/include/sdf/AirPressure.hh
+++ b/include/sdf/AirPressure.hh
@@ -17,7 +17,7 @@
 #ifndef SDF_AIRPRESSURE_HH_
 #define SDF_AIRPRESSURE_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
diff --git a/include/sdf/Altimeter.hh b/include/sdf/Altimeter.hh
index 35bc72977..0e46ce53f 100644
--- a/include/sdf/Altimeter.hh
+++ b/include/sdf/Altimeter.hh
@@ -17,7 +17,7 @@
 #ifndef SDF_ALTIMETER_HH_
 #define SDF_ALTIMETER_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
diff --git a/include/sdf/Atmosphere.hh b/include/sdf/Atmosphere.hh
index fa43d9fa9..38747e328 100644
--- a/include/sdf/Atmosphere.hh
+++ b/include/sdf/Atmosphere.hh
@@ -17,8 +17,8 @@
 #ifndef SDF_ATMOSPHERE_HH_
 #define SDF_ATMOSPHERE_HH_
 
-#include <ignition/math/Temperature.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Temperature.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Box.hh b/include/sdf/Box.hh
index 4c614fd1a..fb2ad1ef5 100644
--- a/include/sdf/Box.hh
+++ b/include/sdf/Box.hh
@@ -17,9 +17,9 @@
 #ifndef SDF_BOX_HH_
 #define SDF_BOX_HH_
 
-#include <ignition/math/Box.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Box.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/Camera.hh b/include/sdf/Camera.hh
index 44c5874e6..5287f8f7f 100644
--- a/include/sdf/Camera.hh
+++ b/include/sdf/Camera.hh
@@ -18,8 +18,8 @@
 #define SDF_CAMERA_HH_
 
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
diff --git a/include/sdf/Capsule.hh b/include/sdf/Capsule.hh
index 045f68580..c376d86a4 100644
--- a/include/sdf/Capsule.hh
+++ b/include/sdf/Capsule.hh
@@ -17,8 +17,8 @@
 #ifndef SDF_CAPSULE_HH_
 #define SDF_CAPSULE_HH_
 
-#include <ignition/math/Capsule.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Capsule.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/Collision.hh b/include/sdf/Collision.hh
index 318742ead..41b9ed8eb 100644
--- a/include/sdf/Collision.hh
+++ b/include/sdf/Collision.hh
@@ -19,8 +19,8 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Cylinder.hh b/include/sdf/Cylinder.hh
index f62189c4c..51d56b430 100644
--- a/include/sdf/Cylinder.hh
+++ b/include/sdf/Cylinder.hh
@@ -17,8 +17,8 @@
 #ifndef SDF_CYLINDER_HH_
 #define SDF_CYLINDER_HH_
 
-#include <ignition/math/Cylinder.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Cylinder.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/Ellipsoid.hh b/include/sdf/Ellipsoid.hh
index cf8dbdad9..f98822ab6 100644
--- a/include/sdf/Ellipsoid.hh
+++ b/include/sdf/Ellipsoid.hh
@@ -17,8 +17,8 @@
 #ifndef SDF_ELLIPSOID_HH_
 #define SDF_ELLIPSOID_HH_
 
-#include <ignition/math/Ellipsoid.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Ellipsoid.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/Error.hh b/include/sdf/Error.hh
index 88558e279..104f88051 100644
--- a/include/sdf/Error.hh
+++ b/include/sdf/Error.hh
@@ -20,7 +20,7 @@
 #include <iostream>
 #include <string>
 #include <optional>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/sdf_config.h>
 #include "sdf/system_util.hh"
 
diff --git a/include/sdf/Exception.hh b/include/sdf/Exception.hh
index 1ada5e8bb..b7c6c382a 100644
--- a/include/sdf/Exception.hh
+++ b/include/sdf/Exception.hh
@@ -24,7 +24,7 @@
 #include <sstream>
 #include <string>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/sdf_config.h>
 #include "sdf/system_util.hh"
 
diff --git a/include/sdf/Filesystem.hh b/include/sdf/Filesystem.hh
index a1e454c64..7498eab6d 100644
--- a/include/sdf/Filesystem.hh
+++ b/include/sdf/Filesystem.hh
@@ -21,7 +21,7 @@
 #include <memory>
 #include <string>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/sdf_config.h>
 #include "sdf/system_util.hh"
 
diff --git a/include/sdf/ForceTorque.hh b/include/sdf/ForceTorque.hh
index b47b9a342..8728b0d3a 100644
--- a/include/sdf/ForceTorque.hh
+++ b/include/sdf/ForceTorque.hh
@@ -18,7 +18,7 @@
 #define SDF_FORCE_TORQUE_HH_
 
 #include <string>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
diff --git a/include/sdf/Frame.hh b/include/sdf/Frame.hh
index 3c327dab9..27d48debe 100644
--- a/include/sdf/Frame.hh
+++ b/include/sdf/Frame.hh
@@ -19,8 +19,8 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Geometry.hh b/include/sdf/Geometry.hh
index a6e444575..86237fe35 100644
--- a/include/sdf/Geometry.hh
+++ b/include/sdf/Geometry.hh
@@ -17,7 +17,7 @@
 #ifndef SDF_GEOMETRY_HH_
 #define SDF_GEOMETRY_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/Gui.hh b/include/sdf/Gui.hh
index bfc80a23f..ab7b0b4c7 100644
--- a/include/sdf/Gui.hh
+++ b/include/sdf/Gui.hh
@@ -17,7 +17,7 @@
 #ifndef SDF_GUI_HH_
 #define SDF_GUI_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Plugin.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Heightmap.hh b/include/sdf/Heightmap.hh
index 9af6064d8..01d1b566f 100644
--- a/include/sdf/Heightmap.hh
+++ b/include/sdf/Heightmap.hh
@@ -18,8 +18,8 @@
 #define SDF_HEIGHTMAP_HH_
 
 #include <string>
-#include <ignition/math/Vector3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Element.hh>
 #include <sdf/Error.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/Imu.hh b/include/sdf/Imu.hh
index 8801f4af2..2223b3827 100644
--- a/include/sdf/Imu.hh
+++ b/include/sdf/Imu.hh
@@ -18,7 +18,7 @@
 #define SDF_IMU_HH_
 
 #include <string>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
diff --git a/include/sdf/InterfaceElements.hh b/include/sdf/InterfaceElements.hh
index 1b8cc21ea..ed3e14a51 100644
--- a/include/sdf/InterfaceElements.hh
+++ b/include/sdf/InterfaceElements.hh
@@ -20,8 +20,8 @@
 #include <string>
 #include <memory>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Element.hh"
 #include "sdf/InterfaceModel.hh"
diff --git a/include/sdf/InterfaceFrame.hh b/include/sdf/InterfaceFrame.hh
index 4bd9a1882..180642756 100644
--- a/include/sdf/InterfaceFrame.hh
+++ b/include/sdf/InterfaceFrame.hh
@@ -20,8 +20,8 @@
 
 #include <string>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
diff --git a/include/sdf/InterfaceJoint.hh b/include/sdf/InterfaceJoint.hh
index 2840929fd..9df48f3c6 100644
--- a/include/sdf/InterfaceJoint.hh
+++ b/include/sdf/InterfaceJoint.hh
@@ -20,8 +20,8 @@
 
 #include <string>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
diff --git a/include/sdf/InterfaceLink.hh b/include/sdf/InterfaceLink.hh
index 35ccaea7d..25ad28250 100644
--- a/include/sdf/InterfaceLink.hh
+++ b/include/sdf/InterfaceLink.hh
@@ -20,8 +20,8 @@
 
 #include <string>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
diff --git a/include/sdf/InterfaceModel.hh b/include/sdf/InterfaceModel.hh
index 30e1d6fbc..c63e3b160 100644
--- a/include/sdf/InterfaceModel.hh
+++ b/include/sdf/InterfaceModel.hh
@@ -23,8 +23,8 @@
 #include <memory>
 #include <vector>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/InterfaceFrame.hh"
 #include "sdf/InterfaceJoint.hh"
diff --git a/include/sdf/InterfaceModelPoseGraph.hh b/include/sdf/InterfaceModelPoseGraph.hh
index 1c1e84fd5..de5d4301b 100644
--- a/include/sdf/InterfaceModelPoseGraph.hh
+++ b/include/sdf/InterfaceModelPoseGraph.hh
@@ -22,8 +22,8 @@
 #include <memory>
 #include <vector>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Types.hh"
 
diff --git a/include/sdf/Joint.hh b/include/sdf/Joint.hh
index f0567ad1d..f9f9c14e1 100644
--- a/include/sdf/Joint.hh
+++ b/include/sdf/Joint.hh
@@ -19,8 +19,8 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/JointAxis.hh b/include/sdf/JointAxis.hh
index 2e5e96cf7..68335b2e4 100644
--- a/include/sdf/JointAxis.hh
+++ b/include/sdf/JointAxis.hh
@@ -19,8 +19,8 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Vector3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Exception.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Lidar.hh b/include/sdf/Lidar.hh
index 41ce9ebfd..ef9817c71 100644
--- a/include/sdf/Lidar.hh
+++ b/include/sdf/Lidar.hh
@@ -17,8 +17,8 @@
 #ifndef SDF_LIDAR_HH_
 #define SDF_LIDAR_HH_
 
-#include <ignition/math/Angle.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Angle.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
diff --git a/include/sdf/Light.hh b/include/sdf/Light.hh
index 5e62b28c7..708b33c96 100644
--- a/include/sdf/Light.hh
+++ b/include/sdf/Light.hh
@@ -19,9 +19,9 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/math/Angle.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Angle.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Element.hh"
 #include "sdf/SemanticPose.hh"
diff --git a/include/sdf/Link.hh b/include/sdf/Link.hh
index bc86b1bc0..cf85e017f 100644
--- a/include/sdf/Link.hh
+++ b/include/sdf/Link.hh
@@ -19,8 +19,8 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Magnetometer.hh b/include/sdf/Magnetometer.hh
index 3c469828d..5561b3298 100644
--- a/include/sdf/Magnetometer.hh
+++ b/include/sdf/Magnetometer.hh
@@ -17,7 +17,7 @@
 #ifndef SDF_MAGNETOMETER_HH_
 #define SDF_MAGNETOMETER_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
diff --git a/include/sdf/Material.hh b/include/sdf/Material.hh
index b544574a0..a9aed0be2 100644
--- a/include/sdf/Material.hh
+++ b/include/sdf/Material.hh
@@ -18,7 +18,7 @@
 #define SDF_MATERIAL_HH_
 
 #include <string>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
diff --git a/include/sdf/Mesh.hh b/include/sdf/Mesh.hh
index 46a99884a..51540a52e 100644
--- a/include/sdf/Mesh.hh
+++ b/include/sdf/Mesh.hh
@@ -18,8 +18,8 @@
 #define SDF_MESH_HH_
 
 #include <string>
-#include <ignition/math/Vector3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Element.hh>
 #include <sdf/Error.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/Model.hh b/include/sdf/Model.hh
index b0a702dc9..a681491c0 100644
--- a/include/sdf/Model.hh
+++ b/include/sdf/Model.hh
@@ -21,8 +21,8 @@
 #include <string>
 #include <utility>
 #include <vector>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/OutputConfig.hh"
 #include "sdf/ParserConfig.hh"
diff --git a/include/sdf/NavSat.hh b/include/sdf/NavSat.hh
index 66b9b4b39..74bbd415b 100644
--- a/include/sdf/NavSat.hh
+++ b/include/sdf/NavSat.hh
@@ -17,13 +17,13 @@
 #ifndef SDF_NAVSAT_HH_
 #define SDF_NAVSAT_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
 #include <sdf/sdf_config.h>
 
-#include <ignition/math/Angle.hh>
+#include <gz/math/Angle.hh>
 
 namespace sdf
 {
diff --git a/include/sdf/Noise.hh b/include/sdf/Noise.hh
index 0b8756992..099afbc70 100644
--- a/include/sdf/Noise.hh
+++ b/include/sdf/Noise.hh
@@ -17,7 +17,7 @@
 #ifndef SDF_NOISE_HH_
 #define SDF_NOISE_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/OutputConfig.hh b/include/sdf/OutputConfig.hh
index d253025fb..c32dcf86f 100644
--- a/include/sdf/OutputConfig.hh
+++ b/include/sdf/OutputConfig.hh
@@ -18,7 +18,7 @@
 #ifndef SDF_OUTPUT_CONFIG_HH_
 #define SDF_OUTPUT_CONFIG_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/InterfaceElements.hh"
 #include "sdf/sdf_config.h"
diff --git a/include/sdf/Param.hh b/include/sdf/Param.hh
index e9404022b..513c8d29d 100644
--- a/include/sdf/Param.hh
+++ b/include/sdf/Param.hh
@@ -33,7 +33,7 @@
 #include <variant>
 #include <vector>
 
-#include <ignition/math.hh>
+#include <gz/math.hh>
 
 #include "sdf/Console.hh"
 #include "sdf/PrintConfig.hh"
diff --git a/include/sdf/ParserConfig.hh b/include/sdf/ParserConfig.hh
index 100d91012..500b8c120 100644
--- a/include/sdf/ParserConfig.hh
+++ b/include/sdf/ParserConfig.hh
@@ -23,7 +23,7 @@
 #include <string>
 #include <vector>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Error.hh"
 #include "sdf/InterfaceElements.hh"
diff --git a/include/sdf/ParticleEmitter.hh b/include/sdf/ParticleEmitter.hh
index 37a8dfb9a..c29f90878 100644
--- a/include/sdf/ParticleEmitter.hh
+++ b/include/sdf/ParticleEmitter.hh
@@ -20,8 +20,8 @@
 #include <memory>
 #include <string>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Vector3.hh>
 #include "sdf/Material.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Pbr.hh b/include/sdf/Pbr.hh
index acc906dc8..e0a602b75 100644
--- a/include/sdf/Pbr.hh
+++ b/include/sdf/Pbr.hh
@@ -18,7 +18,7 @@
 #define SDF_PBR_HH_
 
 #include <string>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
diff --git a/include/sdf/Physics.hh b/include/sdf/Physics.hh
index 931eaf182..e07e8eda9 100644
--- a/include/sdf/Physics.hh
+++ b/include/sdf/Physics.hh
@@ -18,7 +18,7 @@
 #define SDF_PHYSICS_HH_
 
 #include <string>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Plane.hh b/include/sdf/Plane.hh
index c920a3801..7d7de39b3 100644
--- a/include/sdf/Plane.hh
+++ b/include/sdf/Plane.hh
@@ -17,10 +17,10 @@
 #ifndef SDF_PLANE_HH_
 #define SDF_PLANE_HH_
 
-#include <ignition/math/Plane.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Vector2.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Plane.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Vector2.hh>
+#include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/sdf_config.h>
diff --git a/include/sdf/PrintConfig.hh b/include/sdf/PrintConfig.hh
index c74bfa590..99051c7a5 100644
--- a/include/sdf/PrintConfig.hh
+++ b/include/sdf/PrintConfig.hh
@@ -18,7 +18,7 @@
 #define SDF_PRINTCONFIG_HH_
 
 #include <optional>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
diff --git a/include/sdf/Root.hh b/include/sdf/Root.hh
index 318fa7e1b..3759df741 100644
--- a/include/sdf/Root.hh
+++ b/include/sdf/Root.hh
@@ -18,7 +18,7 @@
 #define SDF_ROOT_HH_
 
 #include <string>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/OutputConfig.hh"
 #include "sdf/ParserConfig.hh"
diff --git a/include/sdf/Scene.hh b/include/sdf/Scene.hh
index 1862f1ed5..2c655773c 100644
--- a/include/sdf/Scene.hh
+++ b/include/sdf/Scene.hh
@@ -17,8 +17,8 @@
 #ifndef SDF_SCENE_HH_
 #define SDF_SCENE_HH_
 
-#include <ignition/math/Color.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Color.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Element.hh"
 #include "sdf/Sky.hh"
diff --git a/include/sdf/SemanticPose.hh b/include/sdf/SemanticPose.hh
index 6692d8c04..ceb840777 100644
--- a/include/sdf/SemanticPose.hh
+++ b/include/sdf/SemanticPose.hh
@@ -19,8 +19,8 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
diff --git a/include/sdf/Sensor.hh b/include/sdf/Sensor.hh
index 6ee21ea6e..70c7f0265 100644
--- a/include/sdf/Sensor.hh
+++ b/include/sdf/Sensor.hh
@@ -19,8 +19,8 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Plugin.hh"
 #include "sdf/SemanticPose.hh"
diff --git a/include/sdf/Sky.hh b/include/sdf/Sky.hh
index f9679f0e3..338f237f0 100644
--- a/include/sdf/Sky.hh
+++ b/include/sdf/Sky.hh
@@ -18,8 +18,8 @@
 #ifndef SDF_SKY_HH_
 #define SDF_SKY_HH_
 
-#include <ignition/math/Color.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Color.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
diff --git a/include/sdf/Sphere.hh b/include/sdf/Sphere.hh
index f60ee6e9a..76810b758 100644
--- a/include/sdf/Sphere.hh
+++ b/include/sdf/Sphere.hh
@@ -17,8 +17,8 @@
 #ifndef SDF_SPHERE_HH_
 #define SDF_SPHERE_HH_
 
-#include <ignition/math/Sphere.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Sphere.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
diff --git a/include/sdf/Surface.hh b/include/sdf/Surface.hh
index 724b45e63..475298870 100644
--- a/include/sdf/Surface.hh
+++ b/include/sdf/Surface.hh
@@ -17,7 +17,7 @@
 #ifndef SDF_SURFACE_HH_
 #define SDF_SURFACE_HH_
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
diff --git a/include/sdf/Visual.hh b/include/sdf/Visual.hh
index 9875f5d7d..fa95e01ab 100644
--- a/include/sdf/Visual.hh
+++ b/include/sdf/Visual.hh
@@ -19,8 +19,8 @@
 
 #include <memory>
 #include <string>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
 #include "sdf/Box.hh"
 #include "sdf/Cylinder.hh"
 #include "sdf/Element.hh"
diff --git a/include/sdf/World.hh b/include/sdf/World.hh
index 7a3e28f0d..70c4de27a 100644
--- a/include/sdf/World.hh
+++ b/include/sdf/World.hh
@@ -20,9 +20,9 @@
 #include <memory>
 #include <optional>
 #include <string>
-#include <ignition/math/SphericalCoordinates.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/math/SphericalCoordinates.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Atmosphere.hh"
 #include "sdf/Element.hh"
diff --git a/usd/include/sdf/usd/UsdError.hh b/usd/include/sdf/usd/UsdError.hh
index 763c81040..af2046f36 100644
--- a/usd/include/sdf/usd/UsdError.hh
+++ b/usd/include/sdf/usd/UsdError.hh
@@ -21,7 +21,7 @@
 #include <string>
 #include <vector>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include <sdf/Error.hh>
 #include <sdf/usd/Export.hh>
diff --git a/usd/include/sdf/usd/usd_parser/USDData.hh b/usd/include/sdf/usd/usd_parser/USDData.hh
index 9936858cb..da27eb88b 100644
--- a/usd/include/sdf/usd/usd_parser/USDData.hh
+++ b/usd/include/sdf/usd/usd_parser/USDData.hh
@@ -24,7 +24,7 @@
 #include <unordered_map>
 #include <utility>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Material.hh"
 #include "sdf/Types.hh"
diff --git a/usd/include/sdf/usd/usd_parser/USDStage.hh b/usd/include/sdf/usd/usd_parser/USDStage.hh
index 2bc8f5d25..ae7ee0550 100644
--- a/usd/include/sdf/usd/usd_parser/USDStage.hh
+++ b/usd/include/sdf/usd/usd_parser/USDStage.hh
@@ -21,7 +21,7 @@
 #include <set>
 #include <string>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
diff --git a/usd/include/sdf/usd/usd_parser/USDTransforms.hh b/usd/include/sdf/usd/usd_parser/USDTransforms.hh
index 4b0d75da5..7035ab3ac 100644
--- a/usd/include/sdf/usd/usd_parser/USDTransforms.hh
+++ b/usd/include/sdf/usd/usd_parser/USDTransforms.hh
@@ -21,11 +21,11 @@
 #include <string>
 #include <vector>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/math/Quaternion.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Quaternion.hh>
+#include <gz/math/Vector3.hh>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 // TODO(ahcorde) this is to remove deprecated "warnings" in usd, these warnings
 // are reported using #pragma message so normal diagnostic flags cannot remove