diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 835053d41..09f6e9c5b 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -1,6 +1,6 @@
 libeigen3-dev
-libignition-cmake3-dev
-libignition-utils2-dev
+libgz-cmake3-dev
+libgz-utils2-dev
 libpython3-dev
 python3-distutils
 python3-pybind11
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b4b8a356b..54d4e3ab4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@focal
+        uses: gazebo-tooling/action-gz-ci@focal
         with:
           codecov-enabled: true
           cppcheck-enabled: true
@@ -25,4 +25,4 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@jammy
+        uses: gazebo-tooling/action-gz-ci@jammy
diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml
index 7d7b4e179..38c4fc13b 100644
--- a/.github/workflows/pr-collection-labeler.yml
+++ b/.github/workflows/pr-collection-labeler.yml
@@ -8,6 +8,6 @@ jobs:
     steps:
     - name: Add collection labels
       if: github.event.action == 'opened'
-      uses: ignition-tooling/pr-collection-labeler@v1
+      uses: gazebo-tooling/pr-collection-labeler@v1
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/BUILD.bazel b/BUILD.bazel
index 7ce600965..016f40329 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -1,7 +1,7 @@
 load(
     "//gz_bazel:build_defs.bzl",
-    "IGNITION_FEATURES",
-    "IGNITION_VISIBILITY",
+    "GZ_FEATURES",
+    "GZ_VISIBILITY",
     "cmake_configure_file",
     "generate_include_header",
     "gz_config_header",
@@ -9,8 +9,8 @@ load(
 )
 
 package(
-    default_visibility = IGNITION_VISIBILITY,
-    features = IGNITION_FEATURES,
+    default_visibility = GZ_VISIBILITY,
+    features = GZ_FEATURES,
 )
 
 licenses(["notice"])
@@ -28,23 +28,23 @@ PROJECT_PATCH = 0
 # Generates config.hh based on the version numbers in CMake code.
 gz_config_header(
     name = "config",
-    src = "include/ignition/math/config.hh.in",
+    src = "include/gz/math/config.hh.in",
     cmakelists = ["CMakeLists.txt"],
     project_name = PROJECT_NAME,
     project_version = (PROJECT_MAJOR, PROJECT_MINOR, PROJECT_PATCH),
 )
 
 gz_export_header(
-    name = "include/ignition/math/Export.hh",
-    export_base = "IGNITION_MATH",
-    lib_name = "ignition-math",
+    name = "include/gz/math/Export.hh",
+    export_base = "GZ_MATH",
+    lib_name = "gz-math",
     visibility = ["//visibility:private"],
 )
 
 public_headers_no_gen = glob([
-    "include/ignition/math/*.hh",
-    "include/ignition/math/detail/*.hh",
-    "include/ignition/math/graph/*.hh",
+    "include/gz/math/*.hh",
+    "include/gz/math/detail/*.hh",
+    "include/gz/math/graph/*.hh",
 ])
 
 private_headers = glob(["src/*.hh"])
@@ -56,17 +56,17 @@ sources = glob(
 
 generate_include_header(
     name = "mathhh_genrule",
-    out = "include/ignition/math.hh",
+    out = "include/gz/math.hh",
     hdrs = public_headers_no_gen + [
-        "include/ignition/math/config.hh",
-        "include/ignition/math/Export.hh",
+        "include/gz/math/config.hh",
+        "include/gz/math/Export.hh",
     ],
 )
 
 public_headers = public_headers_no_gen + [
-    "include/ignition/math/config.hh",
-    "include/ignition/math/Export.hh",
-    "include/ignition/math.hh",
+    "include/gz/math/config.hh",
+    "include/gz/math/Export.hh",
+    "include/gz/math.hh",
 ]
 
 cc_library(
@@ -78,9 +78,9 @@ cc_library(
 
 # use shared library only when absolutely needd
 cc_binary(
-    name = "libignition-math7.so",
+    name = "libgz-math7.so",
     includes = ["include"],
-    linkopts = ["-Wl,-soname,libignition-math7.so"],
+    linkopts = ["-Wl,-soname,libgz-math7.so"],
     linkshared = True,
     deps = [
         ":gz_math",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b1c4f7cb5..59899f90f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/math
+  REPLACE_INCLUDE_PATH gz/math
   VERSION_SUFFIX pre1)
 
 #============================================================================
@@ -58,7 +58,7 @@ gz_find_package(
 # Include swig
 find_package(SWIG QUIET)
 if (NOT SWIG_FOUND)
-  IGN_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
+  GZ_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
   message (STATUS "Searching for swig - not found.")
 else()
   message (STATUS "Searching for swig - found version ${SWIG_VERSION}.")
@@ -70,7 +70,7 @@ if (SWIG_FOUND)
   # Include ruby
   find_package(Ruby 1.9 QUIET)
   if (NOT RUBY_FOUND)
-    IGN_BUILD_WARNING("Ruby is missing: Install ruby-dev to enable ruby interfaces.")
+    GZ_BUILD_WARNING("Ruby is missing: Install ruby-dev to enable ruby interfaces.")
     message (STATUS "Searching for Ruby - not found.")
   else()
     message (STATUS "Searching for Ruby - found version ${RUBY_VERSION}.")
@@ -79,10 +79,10 @@ endif()
 
 ########################################
 # Python bindings
-include(IgnPython)
+include(GzPython)
 find_package(PythonLibs QUIET)
 if (NOT PYTHONLIBS_FOUND)
-  IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+  GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
   message (STATUS "Searching for Python - not found.")
 else()
   message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
@@ -94,7 +94,7 @@ else()
   if (${pybind11_FOUND})
     message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
   else()
-    IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+    GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
     message (STATUS "Searching for pybind11 - not found.")
   endif()
 endif()
diff --git a/Changelog.md b/Changelog.md
index 7115a26a6..99516f400 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -417,7 +417,7 @@ instead.
 1. Added functions to convert between time_point and secNsec
     * [Pull request 150](https://github.com/gazebosim/gz-math/pull/150)
 
-1. Fix IGNITION_MATH_XXX_VERSION
+1. Fix GZ_MATH_XXX_VERSION
     * [Pull request 151](https://github.com/gazebosim/gz-math/pull/151)
 
 1. Add Max and Min function to Vector2.hh
diff --git a/Migration.md b/Migration.md
index 5c81932ab..aaaab1dd6 100644
--- a/Migration.md
+++ b/Migration.md
@@ -12,6 +12,7 @@ release will remove the deprecated code.
   1. Removed the Quaternion integer template `Quaternioni`.
 
   1. The project name has been changed to use the `gz-` prefix, you **must** use the `gz` prefix!
+
     * This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
     * Some non-exhaustive examples of this include:
       * `GZ_<PROJECT>_<VISIBLE/HIDDEN>`
@@ -91,6 +92,7 @@ release will remove the deprecated code.
    1. `IGN_MASSMATRIX3_DEFAULT_TOLERANCE`
 1. All `IGN_*_SIZE_T` variables are deprecated and will be removed in future versions.
     Please use `GZ_*_SIZE_T` instead.
+1. Python library `ignition` namespaces should be replaced with `gz`.
 
 
 ### Modifications
diff --git a/README.md b/README.md
index 673dde899..d01e974ee 100644
--- a/README.md
+++ b/README.md
@@ -59,7 +59,7 @@ Please refer to the [examples directory](https://github.com/gazebosim/gz-math/ra
 Refer to the following table for information about important directories and files in this repository.
 
 ```
-ign-math
+gz-math
 ├── examples                 Example programs.
 ├── include/ignition/math    Header files.
 ├── src                      Source files and unit tests.
diff --git a/api.md.in b/api.md.in
index af84db903..d93d62e2e 100644
--- a/api.md.in
+++ b/api.md.in
@@ -1,6 +1,6 @@
-## Gazebo @IGN_DESIGNATION_CAP@
+## Gazebo @GZ_DESIGNATION_CAP@
 
-Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of
+Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of
 libraries designed to rapidly develop robot and simulation applications.
 This library defines a general set of math classes and functions with an eye
 toward simulation and robotics.
diff --git a/configure.bat b/configure.bat
deleted file mode 100644
index 75e41976c..000000000
--- a/configure.bat
+++ /dev/null
@@ -1,27 +0,0 @@
-
-:: NOTE: This script is only meant to be used as part of the ignition developers' CI system
-:: Users and developers should build and install this library using cmake and Visual Studio
-
-:: Install dependencies
-call %win_lib% :download_unzip_install eigen3-3.3.4.zip
-call %win_lib% :install_ign_project gz-cmake gz-cmake3
-
-:: Set configuration variables
-@set build_type=Release
-@if not "%1"=="" set build_type=%1
-@echo Configuring for build type %build_type%
-
-:: Use legacy install location if unset
-@if "%WORKSPACE_INSTALL_DIR%"=="" set WORKSPACE_INSTALL_DIR="install\%build_type%"
-
-:: Go to the directory that this configure.bat file exists in
-cd /d %~dp0
-
-:: Create a build directory and configure
-md build
-cd build
-cmake .. -G "NMake Makefiles" -DCMAKE_INSTALL_PREFIX="%WORKSPACE_INSTALL_DIR%" -DCMAKE_BUILD_TYPE="%build_type%" -DBUILD_TESTING:BOOL=False
-:: Note: We disable testing by default. If the intention is for the CI to build and test
-:: this project, then the CI script will turn it back on.
-
-:: If the caller wants to build and/or install, they should do so after calling this script
diff --git a/eigen3/BUILD.bazel b/eigen3/BUILD.bazel
index fd774c217..508cb3138 100644
--- a/eigen3/BUILD.bazel
+++ b/eigen3/BUILD.bazel
@@ -1,11 +1,11 @@
 load(
     "//gz_bazel:build_defs.bzl",
-    "IGNITION_ROOT",
-    "IGNITION_VISIBILITY",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
 )
 
 package(
-    default_visibility = IGNITION_VISIBILITY,
+    default_visibility = GZ_VISIBILITY,
 )
 
 licenses(["notice"])
@@ -21,7 +21,7 @@ cc_library(
     includes = ["include"],
     deps = [
         "@eigen3",
-        IGNITION_ROOT + "gz_math",
+        GZ_ROOT + "gz_math",
     ],
 )
 
diff --git a/eigen3/include/CMakeLists.txt b/eigen3/include/CMakeLists.txt
index 4b2bdd7bb..992a1312e 100644
--- a/eigen3/include/CMakeLists.txt
+++ b/eigen3/include/CMakeLists.txt
@@ -1,2 +1,2 @@
 add_subdirectory(gz)
-install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})
+install(DIRECTORY ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})
diff --git a/examples/angle_example.py b/examples/angle_example.py
index 10f22bb2f..3db123e84 100644
--- a/examples/angle_example.py
+++ b/examples/angle_example.py
@@ -15,18 +15,18 @@
 # This example will only work if the Python interface library was compiled and
 # installed.
 #
-# Modify the PYTHONPATH environment variable to include the ignition math
+# Modify the PYTHONPATH environment variable to include the gz math
 # library install path. For example, if you install to /usr:
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
 
-import ignition.math
+import gz.math
 
-print("PI in degrees = {}\n".format(ignition.math.Angle.PI.degree()))
+print("PI in degrees = {}\n".format(gz.math.Angle.PI.degree()))
 
-a1 = ignition.math.Angle(1.5707)
-a2 = ignition.math.Angle(0.7854)
+a1 = gz.math.Angle(1.5707)
+a2 = gz.math.Angle(0.7854)
 print("a1 = {} radians, {} degrees\n".format(a1.radian(), a1.degree()))
 print("a2 = {} radians, {} degrees\n".format(a2.radian(), a2.degree()))
 print("a1 * a2 = {} radians, {} degrees\n".format((a1 * a2).radian(),
@@ -36,7 +36,7 @@
 print("a1 - a2 = {} radians, {} degrees\n".format((a1 - a2).radian(),
       (a1 - a2).degree()))
 
-a3 = ignition.math.Angle(15.707)
+a3 = gz.math.Angle(15.707)
 print("a3 = {} radians, {} degrees\n".format(a3.radian(), a3.degree()))
 a3.normalize()
 print("a3.Normalize = {} radians, {} degrees\n".format(a3.radian(),
diff --git a/examples/diff_drive_odometry.py b/examples/diff_drive_odometry.py
index 33fbbaa13..770386521 100644
--- a/examples/diff_drive_odometry.py
+++ b/examples/diff_drive_odometry.py
@@ -15,7 +15,7 @@
 # This example will only work if the Python interface library was compiled and
 # installed.
 #
-# Modify the PYTHONPATH environment variable to include the ignition math
+# Modify the PYTHONPATH environment variable to include the gz math
 # library install path. For example, if you install to /usr:
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
@@ -23,7 +23,7 @@
 import datetime
 import math
 
-from ignition.math import Angle, DiffDriveOdometry
+from gz.math import Angle, DiffDriveOdometry
 
 odom = DiffDriveOdometry()
 
diff --git a/examples/gauss_markov_process_example.py b/examples/gauss_markov_process_example.py
index 1e9e93ec0..2a4d5d287 100644
--- a/examples/gauss_markov_process_example.py
+++ b/examples/gauss_markov_process_example.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# Modify the PYTHONPATH environment variable to include the ignition math
+# Modify the PYTHONPATH environment variable to include the gz math
 # library install path. For example, if you install to /usr:
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
@@ -26,7 +26,7 @@
 # 2. Use gnuplot to create a plot:
 #     gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
 import datetime
-from ignition.math import GaussMarkovProcess
+from gz.math import GaussMarkovProcess
 
 # Create the process with:
 #   * Start value of 20.2
diff --git a/examples/kmeans.py b/examples/kmeans.py
index a4507d94f..d2ef2c173 100644
--- a/examples/kmeans.py
+++ b/examples/kmeans.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 
-from ignition.math import Kmeans, Vector3d
+from gz.math import Kmeans, Vector3d
 
 # Create some observations.
 obs = list([])
diff --git a/examples/rand_example.py b/examples/rand_example.py
index 1a759f8f1..cc9ac0ce0 100644
--- a/examples/rand_example.py
+++ b/examples/rand_example.py
@@ -22,7 +22,7 @@
 # 2. Use gnuplot to create a plot:
 #     gnuplot -c rand_view_normal.gp > normal.jpg
 #     gnuplot -c rand_view_uniform.gp > uniform.jpg
-from ignition.math import Rand
+from gz.math import Rand
 import sys
 
 if (len(sys.argv) < 2):
diff --git a/examples/vector2_example.py b/examples/vector2_example.py
index 7694ead21..6365a0640 100644
--- a/examples/vector2_example.py
+++ b/examples/vector2_example.py
@@ -15,16 +15,16 @@
 # This example will only work if the Python interface library was compiled and
 # installed.
 #
-# Modify the PYTHONPATH environment variable to include the ignition math
+# Modify the PYTHONPATH environment variable to include the gz math
 # library install path. For example, if you install to /user:
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
-import ignition.math
+import gz.math
 
-va = ignition.math.Vector2d(1, 2)
-vb = ignition.math.Vector2d(3, 4)
-vc = ignition.math.Vector2d(vb)
+va = gz.math.Vector2d(1, 2)
+vb = gz.math.Vector2d(3, 4)
+vc = gz.math.Vector2d(vb)
 
 print("va = {} {}\n".format(va.x(), va.y()))
 print("vb = {} {}\n".format(vb.x(), vb.y()))
diff --git a/examples/vector3_example.py b/examples/vector3_example.py
index 202415c25..60aca39f9 100644
--- a/examples/vector3_example.py
+++ b/examples/vector3_example.py
@@ -15,17 +15,17 @@
 # This example will only work if the Python interface library was compiled and
 # installed.
 #
-# Modify the PYTHONPATH environment variable to include the ignition math
+# Modify the PYTHONPATH environment variable to include the gz math
 # library install path. For example, if you install to /user:
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
-import ignition.math
+import gz.math
 
-v1 = ignition.math.Vector3d(0, 0, 3)
+v1 = gz.math.Vector3d(0, 0, 3)
 print("v =: {} {} {}\n".format(v1.x(), v1.y(), v1.z()))
 
-v2 = ignition.math.Vector3d(4, 0, 0)
+v2 = gz.math.Vector3d(4, 0, 0)
 print("v2 = {} {} {}\n".format(v2.x(), v2.y(), v2.z()))
 
 v3 = v1 + v2
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 4b2bdd7bb..992a1312e 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -1,2 +1,2 @@
 add_subdirectory(gz)
-install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})
+install(DIRECTORY ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})
diff --git a/include/gz/math/CMakeLists.txt b/include/gz/math/CMakeLists.txt
index b0ebcadc8..11ebb2c80 100644
--- a/include/gz/math/CMakeLists.txt
+++ b/include/gz/math/CMakeLists.txt
@@ -1,3 +1,3 @@
 # Exclude the detail directory from inclusion. The purpose is to prevent the detail/* header files from being included in math.hh. A side effect is that the detail headers are not installed. The next install line solves this problem.
 gz_install_all_headers(EXCLUDE_DIRS detail)
-install(DIRECTORY detail DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}/gz/${IGN_DESIGNATION})
+install(DIRECTORY detail DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL}/gz/${GZ_DESIGNATION})
diff --git a/src/python_pybind11/CMakeLists.txt b/src/python_pybind11/CMakeLists.txt
index 207189597..ab692ed7b 100644
--- a/src/python_pybind11/CMakeLists.txt
+++ b/src/python_pybind11/CMakeLists.txt
@@ -8,7 +8,7 @@ endif()
 message(STATUS "Building pybind11 interfaces")
 # Split from main extension and converted to pybind11
 pybind11_add_module(math SHARED
-  src/_ignition_math_pybind11.cc
+  src/_gz_math_pybind11.cc
   src/Angle.cc
   src/AxisAlignedBox.cc
   src/Capsule.cc
@@ -81,17 +81,17 @@ if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
   endif()
 
   if(USE_DIST_PACKAGES_FOR_PYTHON)
-    string(REPLACE "site-packages" "dist-packages" IGN_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
+    string(REPLACE "site-packages" "dist-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
   else()
     # custom cmake command is returning dist-packages
-    string(REPLACE "dist-packages" "site-packages" IGN_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
+    string(REPLACE "dist-packages" "site-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
   endif()
 else()
   # If not a system installation, respect local paths
-  set(IGN_PYTHON_INSTALL_PATH ${IGN_LIB_INSTALL_DIR}/python)
+  set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
 endif()
 
-set(IGN_PYTHON_INSTALL_PATH "${IGN_PYTHON_INSTALL_PATH}/ignition")
+set(GZ_PYTHON_INSTALL_PATH "${GZ_PYTHON_INSTALL_PATH}/gz")
 
 # Set the build location and install location for a CPython extension
 function(configure_build_install_location _library_name)
@@ -103,8 +103,28 @@ function(configure_build_install_location _library_name)
 
   # Install library for actual use
   install(TARGETS ${_library_name}
-    DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
+    DESTINATION "${GZ_PYTHON_INSTALL_PATH}/"
   )
+
+  # TODO(CH3): Deprecated. Remove on tock.
+  # Install Python library symlinks
+  if(${GZ_PYTHON_INSTALL_PATH} MATCHES "gz$")
+    string(REGEX REPLACE "gz$" "ignition" IGN_PYTHON_INSTALL_PATH ${GZ_PYTHON_INSTALL_PATH})
+    if (WIN32)  # Windows requires copy instead of symlink
+      install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E copy \
+          ${GZ_PYTHON_INSTALL_PATH}\/${_library_name} \
+          ${PROJECT_BINARY_DIR}\/${_library_name})")
+    else()
+      install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink \
+          ${GZ_PYTHON_INSTALL_PATH}\/${_library_name} \
+          ${PROJECT_BINARY_DIR}\/${_library_name})")
+    endif()
+
+    install(FILES ${PROJECT_BINARY_DIR}\/${_library_name}
+      DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
+    )
+  endif()
+
 endfunction()
 
 configure_build_install_location(math)
diff --git a/src/python_pybind11/src/_ignition_math_pybind11.cc b/src/python_pybind11/src/_gz_math_pybind11.cc
similarity index 100%
rename from src/python_pybind11/src/_ignition_math_pybind11.cc
rename to src/python_pybind11/src/_gz_math_pybind11.cc
diff --git a/src/python_pybind11/test/Angle_TEST.py b/src/python_pybind11/test/Angle_TEST.py
index b28f9ae7d..87438ce96 100644
--- a/src/python_pybind11/test/Angle_TEST.py
+++ b/src/python_pybind11/test/Angle_TEST.py
@@ -14,7 +14,7 @@
 
 import unittest
 import math
-from ignition.math import Angle
+from gz.math import Angle
 
 
 class TestAngle(unittest.TestCase):
diff --git a/src/python_pybind11/test/AxisAlignedBox_TEST.py b/src/python_pybind11/test/AxisAlignedBox_TEST.py
index 4e3e2cc66..92b8d705b 100644
--- a/src/python_pybind11/test/AxisAlignedBox_TEST.py
+++ b/src/python_pybind11/test/AxisAlignedBox_TEST.py
@@ -15,7 +15,7 @@
 import math
 import unittest
 
-from ignition.math import AxisAlignedBox, Helpers, Line3d, Vector3d
+from gz.math import AxisAlignedBox, Helpers, Line3d, Vector3d
 
 
 class TestAxisAlignedBox(unittest.TestCase):
diff --git a/src/python_pybind11/test/Box_TEST.py b/src/python_pybind11/test/Box_TEST.py
index bb442c3d5..e60e163f7 100644
--- a/src/python_pybind11/test/Box_TEST.py
+++ b/src/python_pybind11/test/Box_TEST.py
@@ -14,8 +14,8 @@
 
 import unittest
 
-import ignition
-from ignition.math import Boxd, MassMatrix3d, Material, Planed, Vector3d
+import gz
+from gz.math import Boxd, MassMatrix3d, Material, Planed, Vector3d
 
 
 class TestBox(unittest.TestCase):
@@ -46,30 +46,30 @@ def test_constructor(self):
         self.assertEqual(box, box2)
 
         # Dimension and mat constructor
-        box = Boxd(1.0, 2.0, 5.0, Material(ignition.math.MaterialType.WOOD))
+        box = Boxd(1.0, 2.0, 5.0, Material(gz.math.MaterialType.WOOD))
         self.assertEqual(Vector3d(1.0, 2.0, 5.0), box.size())
-        self.assertEqual(Material(ignition.math.MaterialType.WOOD), box.material())
+        self.assertEqual(Material(gz.math.MaterialType.WOOD), box.material())
 
-        box2 = Boxd(1.0, 2.0, 5.0, Material(ignition.math.MaterialType.WOOD))
+        box2 = Boxd(1.0, 2.0, 5.0, Material(gz.math.MaterialType.WOOD))
         self.assertEqual(box, box2)
 
         # Vector Dimension and mat constructor
-        box = Boxd(Vector3d(2.2, 2.0, 10.0), Material(ignition.math.MaterialType.WOOD))
+        box = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math.MaterialType.WOOD))
         self.assertEqual(Vector3d(2.2, 2.0, 10.0), box.size())
-        self.assertEqual(Material(ignition.math.MaterialType.WOOD), box.material())
+        self.assertEqual(Material(gz.math.MaterialType.WOOD), box.material())
 
-        box2 = Boxd(Vector3d(2.2, 2.0, 10.0), Material(ignition.math.MaterialType.WOOD))
+        box2 = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math.MaterialType.WOOD))
         self.assertEqual(box, box2)
 
     def test_mutators(self):
         box = Boxd()
         box.set_size(100.1, 2.3, 5.6)
-        box.set_material(Material(ignition.math.MaterialType.PINE))
+        box.set_material(Material(gz.math.MaterialType.PINE))
 
         self.assertEqual(100.1, box.size().x())
         self.assertEqual(2.3, box.size().y())
         self.assertEqual(5.6, box.size().z())
-        self.assertEqual(Material(ignition.math.MaterialType.PINE), box.material())
+        self.assertEqual(Material(gz.math.MaterialType.PINE), box.material())
 
         box.set_size(Vector3d(3.4, 1.2, 0.5))
         self.assertEqual(3.4, box.size().x())
diff --git a/src/python_pybind11/test/Capsule_TEST.py b/src/python_pybind11/test/Capsule_TEST.py
index 2982eeb16..e2344ea0f 100644
--- a/src/python_pybind11/test/Capsule_TEST.py
+++ b/src/python_pybind11/test/Capsule_TEST.py
@@ -14,8 +14,8 @@
 
 import unittest
 
-import ignition
-from ignition.math import Capsuled, Material, MassMatrix3d
+import gz
+from gz.math import Capsuled, Material, MassMatrix3d
 
 import math
 
@@ -41,14 +41,14 @@ def test_constructor(self):
 
         # Length, radius, mat
         capsule = Capsuled(1.0, 2.0,
-            Material(ignition.math.MaterialType.WOOD));
+            Material(gz.math.MaterialType.WOOD));
         self.assertEqual(1.0, capsule.length());
         self.assertEqual(2.0, capsule.radius());
-        self.assertEqual(Material(ignition.math.MaterialType.WOOD),
+        self.assertEqual(Material(gz.math.MaterialType.WOOD),
                          capsule.material());
 
         capsule2 = Capsuled(1.0, 2.0,
-            Material(ignition.math.MaterialType.WOOD));
+            Material(gz.math.MaterialType.WOOD));
         self.assertEqual(capsule, capsule2);
 
 
@@ -60,11 +60,11 @@ def test_mutators(self):
 
         capsule.set_length(100.1);
         capsule.set_radius(.123);
-        capsule.set_material(Material(ignition.math.MaterialType.PINE));
+        capsule.set_material(Material(gz.math.MaterialType.PINE));
 
         self.assertEqual(100.1, capsule.length());
         self.assertEqual(.123, capsule.radius());
-        self.assertEqual(Material(ignition.math.MaterialType.PINE),
+        self.assertEqual(Material(gz.math.MaterialType.PINE),
                          capsule.material());
 
 
diff --git a/src/python_pybind11/test/Color_TEST.py b/src/python_pybind11/test/Color_TEST.py
index 31bb2dccc..44992ac40 100644
--- a/src/python_pybind11/test/Color_TEST.py
+++ b/src/python_pybind11/test/Color_TEST.py
@@ -14,8 +14,8 @@
 
 import math
 import unittest
-from ignition.math import Color
-from ignition.math import Vector3f
+from gz.math import Color
+from gz.math import Vector3f
 
 
 class TestColor(unittest.TestCase):
diff --git a/src/python_pybind11/test/Cylinder_TEST.py b/src/python_pybind11/test/Cylinder_TEST.py
index dc6da79ed..b6849395a 100644
--- a/src/python_pybind11/test/Cylinder_TEST.py
+++ b/src/python_pybind11/test/Cylinder_TEST.py
@@ -15,8 +15,8 @@
 import math
 import unittest
 
-import ignition
-from ignition.math import Cylinderd, MassMatrix3d, Material, Quaterniond
+import gz
+from gz.math import Cylinderd, MassMatrix3d, Material, Quaterniond
 
 
 class TestCylinder(unittest.TestCase):
@@ -54,14 +54,14 @@ def test_constructor(self):
         self.assertEqual(cylinder, cylinder2)
 
         # Length, radius, mat and rot constructor
-        cylinder = Cylinderd(1.0, 2.0, Material(ignition.math.MaterialType.WOOD),
+        cylinder = Cylinderd(1.0, 2.0, Material(gz.math.MaterialType.WOOD),
                              Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(1.0, cylinder.length())
         self.assertEqual(2.0, cylinder.radius())
         self.assertEqual(Quaterniond(0.1, 0.2, 0.3), cylinder.rotational_offset())
-        self.assertEqual(Material(ignition.math.MaterialType.WOOD), cylinder.mat())
+        self.assertEqual(Material(gz.math.MaterialType.WOOD), cylinder.mat())
 
-        cylinder2 = Cylinderd(1.0, 2.0, Material(ignition.math.MaterialType.WOOD),
+        cylinder2 = Cylinderd(1.0, 2.0, Material(gz.math.MaterialType.WOOD),
                               Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(cylinder, cylinder2)
 
@@ -75,12 +75,12 @@ def test_mutators(self):
         cylinder.set_length(100.1)
         cylinder.set_radius(.123)
         cylinder.set_rotational_offset(Quaterniond(1.2, 2.3, 3.4))
-        cylinder.set_mat(Material(ignition.math.MaterialType.PINE))
+        cylinder.set_mat(Material(gz.math.MaterialType.PINE))
 
         self.assertEqual(100.1, cylinder.length())
         self.assertEqual(.123, cylinder.radius())
         self.assertEqual(Quaterniond(1.2, 2.3, 3.4), cylinder.rotational_offset())
-        self.assertEqual(Material(ignition.math.MaterialType.PINE), cylinder.mat())
+        self.assertEqual(Material(gz.math.MaterialType.PINE), cylinder.mat())
 
     def test_volume_and_density(self):
         mass = 1.0
diff --git a/src/python_pybind11/test/DiffDriveOdometry_TEST.py b/src/python_pybind11/test/DiffDriveOdometry_TEST.py
index 282845403..076044ae8 100644
--- a/src/python_pybind11/test/DiffDriveOdometry_TEST.py
+++ b/src/python_pybind11/test/DiffDriveOdometry_TEST.py
@@ -16,7 +16,7 @@
 import math
 import unittest
 
-from ignition.math import Angle, DiffDriveOdometry
+from gz.math import Angle, DiffDriveOdometry
 
 
 class TestDiffDriveOdometry(unittest.TestCase):
diff --git a/src/python_pybind11/test/Ellipsoid_TEST.py b/src/python_pybind11/test/Ellipsoid_TEST.py
index bdfd086e1..1f8866395 100644
--- a/src/python_pybind11/test/Ellipsoid_TEST.py
+++ b/src/python_pybind11/test/Ellipsoid_TEST.py
@@ -14,8 +14,8 @@
 
 import unittest
 
-import ignition
-from ignition.math import Ellipsoidd, Material, MassMatrix3d, Vector3d
+import gz
+from gz.math import Ellipsoidd, Material, MassMatrix3d, Vector3d
 
 import math
 
@@ -40,7 +40,7 @@ def test_constructor(self):
 
         # Vector3 of radii and material
         expectedRadii = Vector3d(1.0, 2.0, 3.0)
-        expectedMaterial = Material(ignition.math.MaterialType.WOOD)
+        expectedMaterial = Material(gz.math.MaterialType.WOOD)
         ellipsoid = Ellipsoidd(expectedRadii, expectedMaterial)
         self.assertEqual(expectedRadii, ellipsoid.radii())
         self.assertEqual(expectedMaterial, ellipsoid.material())
@@ -57,7 +57,7 @@ def test_mutators(self):
         expectedRadii = Vector3d(1.0, 2.0, 3.0)
         ellipsoid.set_radii(expectedRadii)
 
-        expectedMaterial = Material(ignition.math.MaterialType.PINE)
+        expectedMaterial = Material(gz.math.MaterialType.PINE)
         ellipsoid.set_material(expectedMaterial)
 
         self.assertEqual(expectedRadii, ellipsoid.radii())
diff --git a/src/python_pybind11/test/Filter_TEST.py b/src/python_pybind11/test/Filter_TEST.py
index def7d9aa4..cc157d319 100644
--- a/src/python_pybind11/test/Filter_TEST.py
+++ b/src/python_pybind11/test/Filter_TEST.py
@@ -13,13 +13,13 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import BiQuadd
-from ignition.math import BiQuadVector3
-from ignition.math import OnePoled
-from ignition.math import OnePoleQuaternion
-from ignition.math import OnePoleVector3
-from ignition.math import Quaterniond
-from ignition.math import Vector3d
+from gz.math import BiQuadd
+from gz.math import BiQuadVector3
+from gz.math import OnePoled
+from gz.math import OnePoleQuaternion
+from gz.math import OnePoleVector3
+from gz.math import Quaterniond
+from gz.math import Vector3d
 
 
 class TestFilter(unittest.TestCase):
diff --git a/src/python_pybind11/test/Frustum_TEST.py b/src/python_pybind11/test/Frustum_TEST.py
index fd99c89e7..43469e84e 100644
--- a/src/python_pybind11/test/Frustum_TEST.py
+++ b/src/python_pybind11/test/Frustum_TEST.py
@@ -15,7 +15,7 @@
 import math
 import unittest
 
-from ignition.math import Angle, AxisAlignedBox, Frustum, FrustumPlane, Planed, Pose3d, Vector3d
+from gz.math import Angle, AxisAlignedBox, Frustum, FrustumPlane, Planed, Pose3d, Vector3d
 
 
 class TestFrustrum(unittest.TestCase):
diff --git a/src/python_pybind11/test/GaussMarkovProcess_TEST.py b/src/python_pybind11/test/GaussMarkovProcess_TEST.py
index 069b312b5..1b8188eb1 100644
--- a/src/python_pybind11/test/GaussMarkovProcess_TEST.py
+++ b/src/python_pybind11/test/GaussMarkovProcess_TEST.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import GaussMarkovProcess
+from gz.math import GaussMarkovProcess
 
 
 class TestGaussMarkovProcess(unittest.TestCase):
diff --git a/src/python_pybind11/test/Helpers_TEST.py b/src/python_pybind11/test/Helpers_TEST.py
index 2bbadef9e..9bfe34dde 100644
--- a/src/python_pybind11/test/Helpers_TEST.py
+++ b/src/python_pybind11/test/Helpers_TEST.py
@@ -15,7 +15,7 @@
 import math
 import unittest
 
-from ignition.math import (Helpers, gz_box_volume, gz_box_volume_v, gz_cylinder_volume,
+from gz.math import (Helpers, gz_box_volume, gz_box_volume_v, gz_cylinder_volume,
                            gz_sphere_volume, Vector3d, equal, fixnan,
                            greater_or_near_equal, is_even, is_odd, is_power_of_two, isnan,
                            less_or_near_equal, max, mean, min,
diff --git a/src/python_pybind11/test/Inertial_TEST.py b/src/python_pybind11/test/Inertial_TEST.py
index b0dfade8e..e0fd5985c 100644
--- a/src/python_pybind11/test/Inertial_TEST.py
+++ b/src/python_pybind11/test/Inertial_TEST.py
@@ -16,7 +16,7 @@
 import math
 import unittest
 
-from ignition.math import Inertiald, Quaterniond, Pose3d, Matrix3d, MassMatrix3d, Vector3d
+from gz.math import Inertiald, Quaterniond, Pose3d, Matrix3d, MassMatrix3d, Vector3d
 
 
 class TestInertial(unittest.TestCase):
diff --git a/src/python_pybind11/test/Kmeans_TEST.py b/src/python_pybind11/test/Kmeans_TEST.py
index 8772ee713..272ca03df 100644
--- a/src/python_pybind11/test/Kmeans_TEST.py
+++ b/src/python_pybind11/test/Kmeans_TEST.py
@@ -13,8 +13,8 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import Kmeans
-from ignition.math import Vector3d
+from gz.math import Kmeans
+from gz.math import Vector3d
 
 
 class TestKmeans(unittest.TestCase):
diff --git a/src/python_pybind11/test/Line2_TEST.py b/src/python_pybind11/test/Line2_TEST.py
index 0c05a2e74..80c4eaec4 100644
--- a/src/python_pybind11/test/Line2_TEST.py
+++ b/src/python_pybind11/test/Line2_TEST.py
@@ -14,8 +14,8 @@
 
 import math
 import unittest
-from ignition.math import Line2d
-from ignition.math import Vector2d
+from gz.math import Line2d
+from gz.math import Vector2d
 
 
 class TestLine2d(unittest.TestCase):
diff --git a/src/python_pybind11/test/Line3_TEST.py b/src/python_pybind11/test/Line3_TEST.py
index 7d5cc11f7..4ffa3c7c3 100644
--- a/src/python_pybind11/test/Line3_TEST.py
+++ b/src/python_pybind11/test/Line3_TEST.py
@@ -14,8 +14,8 @@
 
 import math
 import unittest
-from ignition.math import Line3d
-from ignition.math import Vector3d
+from gz.math import Line3d
+from gz.math import Vector3d
 
 
 class TestLine3d(unittest.TestCase):
diff --git a/src/python_pybind11/test/MassMatrix3_TEST.py b/src/python_pybind11/test/MassMatrix3_TEST.py
index 9a8314648..f348983af 100644
--- a/src/python_pybind11/test/MassMatrix3_TEST.py
+++ b/src/python_pybind11/test/MassMatrix3_TEST.py
@@ -16,12 +16,12 @@
 import unittest
 import math
 
-from ignition.math import sort3
-from ignition.math import MassMatrix3d
-from ignition.math import Material
-from ignition.math import Vector3d
-from ignition.math import Matrix3d
-from ignition.math import Quaterniond
+from gz.math import sort3
+from gz.math import MassMatrix3d
+from gz.math import Material
+from gz.math import Vector3d
+from gz.math import Matrix3d
+from gz.math import Quaterniond
 
 GZ_PI = 3.14159265358979323846
 GZ_PI_2 = 1.57079632679489661923
diff --git a/src/python_pybind11/test/Material_TEST.py b/src/python_pybind11/test/Material_TEST.py
index 5767898df..54236977a 100644
--- a/src/python_pybind11/test/Material_TEST.py
+++ b/src/python_pybind11/test/Material_TEST.py
@@ -15,64 +15,64 @@
 import sys
 import unittest
 
-import ignition.math
+import gz.math
 
 
 class TestMaterial(unittest.TestCase):
 
     def test_init(self):
-        mats = ignition.math.Material.predefined()
+        mats = gz.math.Material.predefined()
         self.assertTrue(len(mats))
 
         # Make sure that the number of elements in the MaterialType enum matches
         # the number of elements in the MaterialDensity::materials map.
-        self.assertEqual(ignition.math.MaterialType.UNKNOWN_MATERIAL,
-                         ignition.math.MaterialType(len(mats)))
+        self.assertEqual(gz.math.MaterialType.UNKNOWN_MATERIAL,
+                         gz.math.MaterialType(len(mats)))
 
         # Iterate over each element in the enum. Check the that enum value
         # matches the type value in the mats map.
-        for i in range(ignition.math.MaterialType.UNKNOWN_MATERIAL):
+        for i in range(gz.math.MaterialType.UNKNOWN_MATERIAL):
             # Get the type of the material for MaterialType i.
-            self.assertEqual(ignition.math.MaterialType(i),
-                             mats[ignition.math.MaterialType(i)].type())
+            self.assertEqual(gz.math.MaterialType(i),
+                             mats[gz.math.MaterialType(i)].type())
 
             # The name should not be empty
-            self.assertTrue(mats[ignition.math.MaterialType(i)].name())
+            self.assertTrue(mats[gz.math.MaterialType(i)].name())
 
             # The density should be less than the max double value and greater than
             # zero.
-            self.assertLess(mats[ignition.math.MaterialType(i)].density(), sys.float_info.max)
-            self.assertGreater(mats[ignition.math.MaterialType(i)].density(), 0.0)
+            self.assertLess(mats[gz.math.MaterialType(i)].density(), sys.float_info.max)
+            self.assertGreater(mats[gz.math.MaterialType(i)].density(), 0.0)
 
-        malicious = ignition.math.Material(ignition.math.MaterialType(42))
+        malicious = gz.math.Material(gz.math.MaterialType(42))
         self.assertEqual(-1.0, malicious.density())
         self.assertEqual('', malicious.name())
 
-        byDensity = ignition.math.Material(42.2)
+        byDensity = gz.math.Material(42.2)
         self.assertEqual(42.2, byDensity.density())
-        self.assertEqual(ignition.math.MaterialType.UNKNOWN_MATERIAL, byDensity.type())
+        self.assertEqual(gz.math.MaterialType.UNKNOWN_MATERIAL, byDensity.type())
 
     def test_comparison(self):
-        aluminum = ignition.math.Material(ignition.math.MaterialType.ALUMINUM)
+        aluminum = gz.math.Material(gz.math.MaterialType.ALUMINUM)
 
-        modified = ignition.math.Material(aluminum)
+        modified = gz.math.Material(aluminum)
         self.assertEqual(modified, aluminum)
 
         modified.set_density(1234.0)
         self.assertNotEqual(modified, aluminum)
 
-        modified = ignition.math.Material(aluminum)
+        modified = gz.math.Material(aluminum)
         self.assertEqual(modified, aluminum)
 
-        modified.set_type(ignition.math.MaterialType.PINE)
+        modified.set_type(gz.math.MaterialType.PINE)
         self.assertNotEqual(modified, aluminum)
 
     def test_accessors(self):
 
-        mat = ignition.math.Material("Aluminum")
-        mat1 = ignition.math.Material("aluminum")
-        mat2 = ignition.math.Material(ignition.math.MaterialType.ALUMINUM)
-        mat3 = ignition.math.Material(mat2)
+        mat = gz.math.Material("Aluminum")
+        mat1 = gz.math.Material("aluminum")
+        mat2 = gz.math.Material(gz.math.MaterialType.ALUMINUM)
+        mat3 = gz.math.Material(mat2)
 
         self.assertAlmostEqual(2700.0, mat.density())
         self.assertEqual(mat, mat1)
@@ -80,31 +80,31 @@ def test_accessors(self):
         self.assertEqual(mat2, mat3)
 
         # Test constructor
-        mat4 = ignition.math.Material(mat3)
+        mat4 = gz.math.Material(mat3)
         self.assertEqual(mat2, mat4)
 
-        mat5 = ignition.math.Material(mat4)
+        mat5 = gz.math.Material(mat4)
         self.assertEqual(mat2, mat5)
 
-        mat = ignition.math.Material("Notfoundium")
+        mat = gz.math.Material("Notfoundium")
         self.assertGreater(0.0, mat.density())
-        self.assertEqual(ignition.math.MaterialType.UNKNOWN_MATERIAL,
+        self.assertEqual(gz.math.MaterialType.UNKNOWN_MATERIAL,
                          mat.type())
         self.assertFalse(mat.name())
 
-        material = ignition.math.Material()
+        material = gz.math.Material()
         material.set_to_nearest_density(19300.0)
-        self.assertEqual(ignition.math.MaterialType.TUNGSTEN, material.type())
+        self.assertEqual(gz.math.MaterialType.TUNGSTEN, material.type())
         self.assertAlmostEqual(19300.0, material.density())
 
-        material = ignition.math.Material()
+        material = gz.math.Material()
         material.set_to_nearest_density(1001001.001, 1e-3)
-        self.assertEqual(ignition.math.MaterialType.UNKNOWN_MATERIAL,
+        self.assertEqual(gz.math.MaterialType.UNKNOWN_MATERIAL,
                          material.type())
         self.assertGreater(0.0, material.density())
-        material = ignition.math.Material()
+        material = gz.math.Material()
         material.set_to_nearest_density(1001001.001)
-        self.assertEqual(ignition.math.MaterialType.TUNGSTEN, material.type())
+        self.assertEqual(gz.math.MaterialType.TUNGSTEN, material.type())
         self.assertAlmostEqual(19300, material.density())
 
 
diff --git a/src/python_pybind11/test/Matrix3_TEST.py b/src/python_pybind11/test/Matrix3_TEST.py
index 0a2bc2d21..1db9b279a 100644
--- a/src/python_pybind11/test/Matrix3_TEST.py
+++ b/src/python_pybind11/test/Matrix3_TEST.py
@@ -14,9 +14,9 @@
 
 import math
 import unittest
-from ignition.math import Matrix3d
-from ignition.math import Quaterniond
-from ignition.math import Vector3d
+from gz.math import Matrix3d
+from gz.math import Quaterniond
+from gz.math import Vector3d
 
 
 class TestMatrix3(unittest.TestCase):
diff --git a/src/python_pybind11/test/Matrix4_TEST.py b/src/python_pybind11/test/Matrix4_TEST.py
index 44fe82dca..d5587794c 100644
--- a/src/python_pybind11/test/Matrix4_TEST.py
+++ b/src/python_pybind11/test/Matrix4_TEST.py
@@ -14,10 +14,10 @@
 
 import math
 import unittest
-from ignition.math import Matrix4d
-from ignition.math import Pose3d
-from ignition.math import Quaterniond
-from ignition.math import Vector3d
+from gz.math import Matrix4d
+from gz.math import Pose3d
+from gz.math import Quaterniond
+from gz.math import Vector3d
 
 
 class TestMatrix4(unittest.TestCase):
diff --git a/src/python_pybind11/test/MovingWindowFilter_TEST.py b/src/python_pybind11/test/MovingWindowFilter_TEST.py
index bf8bf691c..0d037fff5 100644
--- a/src/python_pybind11/test/MovingWindowFilter_TEST.py
+++ b/src/python_pybind11/test/MovingWindowFilter_TEST.py
@@ -13,10 +13,10 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import MovingWindowFilterd
-from ignition.math import MovingWindowFilteri
-from ignition.math import MovingWindowFilterv3
-from ignition.math import Vector3d
+from gz.math import MovingWindowFilterd
+from gz.math import MovingWindowFilteri
+from gz.math import MovingWindowFilterv3
+from gz.math import Vector3d
 
 
 class TestFilter(unittest.TestCase):
diff --git a/src/python_pybind11/test/OrientedBox_TEST.py b/src/python_pybind11/test/OrientedBox_TEST.py
index d750bd4ed..e38bede77 100644
--- a/src/python_pybind11/test/OrientedBox_TEST.py
+++ b/src/python_pybind11/test/OrientedBox_TEST.py
@@ -15,7 +15,7 @@
 import math
 import unittest
 
-from ignition.math import OrientedBoxd, MassMatrix3d, Material, Pose3d, Vector3d
+from gz.math import OrientedBoxd, MassMatrix3d, Material, Pose3d, Vector3d
 
 g_tolerance = 1e-6
 
diff --git a/src/python_pybind11/test/PID_TEST.py b/src/python_pybind11/test/PID_TEST.py
index 8841938ae..f3a7f38f1 100644
--- a/src/python_pybind11/test/PID_TEST.py
+++ b/src/python_pybind11/test/PID_TEST.py
@@ -14,7 +14,7 @@
 
 import datetime
 import unittest
-from ignition.math import PID
+from gz.math import PID
 
 
 class TestPID(unittest.TestCase):
diff --git a/src/python_pybind11/test/Plane_TEST.py b/src/python_pybind11/test/Plane_TEST.py
index b038c7fd5..974fcb7ed 100644
--- a/src/python_pybind11/test/Plane_TEST.py
+++ b/src/python_pybind11/test/Plane_TEST.py
@@ -14,7 +14,7 @@
 
 import unittest
 
-from ignition.math import AxisAlignedBox, Planed, PlaneSide, Vector2d, Vector3d
+from gz.math import AxisAlignedBox, Planed, PlaneSide, Vector2d, Vector3d
 
 
 class TestPlane(unittest.TestCase):
diff --git a/src/python_pybind11/test/Pose3_TEST.py b/src/python_pybind11/test/Pose3_TEST.py
index 098b7c3ef..da1b4136c 100644
--- a/src/python_pybind11/test/Pose3_TEST.py
+++ b/src/python_pybind11/test/Pose3_TEST.py
@@ -14,9 +14,9 @@
 
 import math
 import unittest
-from ignition.math import Pose3d
-from ignition.math import Quaterniond
-from ignition.math import Vector3d
+from gz.math import Pose3d
+from gz.math import Quaterniond
+from gz.math import Vector3d
 
 
 class TestPose3(unittest.TestCase):
diff --git a/src/python_pybind11/test/Quaternion_TEST.py b/src/python_pybind11/test/Quaternion_TEST.py
index 7cfe23e1a..85f80126c 100644
--- a/src/python_pybind11/test/Quaternion_TEST.py
+++ b/src/python_pybind11/test/Quaternion_TEST.py
@@ -14,11 +14,11 @@
 
 import math
 import unittest
-from ignition.math import Matrix3d
-from ignition.math import Matrix4d
-from ignition.math import Quaterniond
-from ignition.math import Quaternionf
-from ignition.math import Vector3d
+from gz.math import Matrix3d
+from gz.math import Matrix4d
+from gz.math import Quaterniond
+from gz.math import Quaternionf
+from gz.math import Vector3d
 
 
 class TestQuaternion(unittest.TestCase):
diff --git a/src/python_pybind11/test/Rand_TEST.py b/src/python_pybind11/test/Rand_TEST.py
index d9dfa9953..f5d389643 100644
--- a/src/python_pybind11/test/Rand_TEST.py
+++ b/src/python_pybind11/test/Rand_TEST.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import Rand
+from gz.math import Rand
 
 
 class TestRand(unittest.TestCase):
diff --git a/src/python_pybind11/test/RollingMean_TEST.py b/src/python_pybind11/test/RollingMean_TEST.py
index 90c7044f2..99b9b10d7 100644
--- a/src/python_pybind11/test/RollingMean_TEST.py
+++ b/src/python_pybind11/test/RollingMean_TEST.py
@@ -14,7 +14,7 @@
 
 import math
 import unittest
-from ignition.math import RollingMean
+from gz.math import RollingMean
 
 
 class TestRollingMean(unittest.TestCase):
diff --git a/src/python_pybind11/test/RotationSpline_TEST.py b/src/python_pybind11/test/RotationSpline_TEST.py
index 598226157..1de1ceb5b 100644
--- a/src/python_pybind11/test/RotationSpline_TEST.py
+++ b/src/python_pybind11/test/RotationSpline_TEST.py
@@ -13,9 +13,9 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import Quaterniond
-from ignition.math import RotationSpline
-from ignition.math import Vector3d
+from gz.math import Quaterniond
+from gz.math import RotationSpline
+from gz.math import Vector3d
 
 
 class TestRotationSpline(unittest.TestCase):
diff --git a/src/python_pybind11/test/SemanticVersion_TEST.py b/src/python_pybind11/test/SemanticVersion_TEST.py
index 095568f5b..911c5880a 100644
--- a/src/python_pybind11/test/SemanticVersion_TEST.py
+++ b/src/python_pybind11/test/SemanticVersion_TEST.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import SemanticVersion
+from gz.math import SemanticVersion
 
 
 class TestSemanticVersion(unittest.TestCase):
diff --git a/src/python_pybind11/test/SignalStats_TEST.py b/src/python_pybind11/test/SignalStats_TEST.py
index 26e4e4974..a54b3b41d 100644
--- a/src/python_pybind11/test/SignalStats_TEST.py
+++ b/src/python_pybind11/test/SignalStats_TEST.py
@@ -14,14 +14,14 @@
 
 import math
 import unittest
-from ignition.math import Rand
-from ignition.math import SignalMaxAbsoluteValue
-from ignition.math import SignalMaximum
-from ignition.math import SignalMean
-from ignition.math import SignalMinimum
-from ignition.math import SignalRootMeanSquare
-from ignition.math import SignalStats
-from ignition.math import SignalVariance
+from gz.math import Rand
+from gz.math import SignalMaxAbsoluteValue
+from gz.math import SignalMaximum
+from gz.math import SignalMean
+from gz.math import SignalMinimum
+from gz.math import SignalRootMeanSquare
+from gz.math import SignalStats
+from gz.math import SignalVariance
 
 
 class TestSignalStats(unittest.TestCase):
diff --git a/src/python_pybind11/test/Sphere_TEST.py b/src/python_pybind11/test/Sphere_TEST.py
index 14c5df186..2c5e5f649 100644
--- a/src/python_pybind11/test/Sphere_TEST.py
+++ b/src/python_pybind11/test/Sphere_TEST.py
@@ -15,8 +15,8 @@
 import math
 import unittest
 
-import ignition
-from ignition.math import MassMatrix3d, Material, Planed, Sphered, Vector2d, Vector3d
+import gz
+from gz.math import MassMatrix3d, Material, Planed, Sphered, Vector2d, Vector3d
 
 
 class TestSphere(unittest.TestCase):
@@ -39,28 +39,28 @@ def test_constructor(self):
         self.assertEqual(sphere, sphere2)
 
         # Radius and mat
-        sphere = Sphered(1.0, Material(ignition.math.MaterialType.WOOD))
+        sphere = Sphered(1.0, Material(gz.math.MaterialType.WOOD))
         self.assertEqual(1.0, sphere.radius())
-        self.assertEqual(Material(ignition.math.MaterialType.WOOD), sphere.material())
+        self.assertEqual(Material(gz.math.MaterialType.WOOD), sphere.material())
 
-        sphere2 = Sphered(1.0, Material(ignition.math.MaterialType.WOOD))
+        sphere2 = Sphered(1.0, Material(gz.math.MaterialType.WOOD))
         self.assertEqual(sphere, sphere2)
 
     def test_comparison(self):
-        wood = Sphered(0.1, Material(ignition.math.MaterialType.WOOD))
+        wood = Sphered(0.1, Material(gz.math.MaterialType.WOOD))
 
         modified = wood
         self.assertEqual(wood, modified)
 
         modified.set_radius(1.0)
-        wood = Sphered(0.1, Material(ignition.math.MaterialType.WOOD))
+        wood = Sphered(0.1, Material(gz.math.MaterialType.WOOD))
         self.assertNotEqual(wood, modified)
 
         modified = wood
-        wood = Sphered(0.1, Material(ignition.math.MaterialType.WOOD))
+        wood = Sphered(0.1, Material(gz.math.MaterialType.WOOD))
         self.assertEqual(wood, modified)
 
-        modified.set_material(Material(ignition.math.MaterialType.PINE))
+        modified.set_material(Material(gz.math.MaterialType.PINE))
         self.assertNotEqual(wood, modified)
 
     def test_mutators(self):
@@ -69,10 +69,10 @@ def test_mutators(self):
         self.assertEqual(Material(), sphere.material())
 
         sphere.set_radius(.123)
-        sphere.set_material(Material(ignition.math.MaterialType.PINE))
+        sphere.set_material(Material(gz.math.MaterialType.PINE))
 
         self.assertEqual(.123, sphere.radius())
-        self.assertEqual(Material(ignition.math.MaterialType.PINE), sphere.material())
+        self.assertEqual(Material(gz.math.MaterialType.PINE), sphere.material())
 
     def test_volume_and_density(self):
         mass = 1.0
diff --git a/src/python_pybind11/test/SphericalCoordinates_TEST.py b/src/python_pybind11/test/SphericalCoordinates_TEST.py
index 72f8d8a53..82b11d8c7 100644
--- a/src/python_pybind11/test/SphericalCoordinates_TEST.py
+++ b/src/python_pybind11/test/SphericalCoordinates_TEST.py
@@ -14,8 +14,8 @@
 
 import unittest
 
-import ignition
-from ignition.math import Angle, SphericalCoordinates, Vector3d
+import gz
+from gz.math import Angle, SphericalCoordinates, Vector3d
 import math
 
 class TestSphericalCoordinates(unittest.TestCase):
diff --git a/src/python_pybind11/test/Spline_TEST.py b/src/python_pybind11/test/Spline_TEST.py
index a043ed5ac..a6937b7d7 100644
--- a/src/python_pybind11/test/Spline_TEST.py
+++ b/src/python_pybind11/test/Spline_TEST.py
@@ -14,8 +14,8 @@
 
 import math
 import unittest
-from ignition.math import Spline
-from ignition.math import Vector3d
+from gz.math import Spline
+from gz.math import Vector3d
 
 
 class TestSpline(unittest.TestCase):
diff --git a/src/python_pybind11/test/StopWatch_TEST.py b/src/python_pybind11/test/StopWatch_TEST.py
index 7c0b5b34e..db4a1dd89 100644
--- a/src/python_pybind11/test/StopWatch_TEST.py
+++ b/src/python_pybind11/test/StopWatch_TEST.py
@@ -16,7 +16,7 @@
 import unittest
 from datetime import datetime, timedelta
 
-from ignition.math import Stopwatch
+from gz.math import Stopwatch
 
 
 class TestBox(unittest.TestCase):
diff --git a/src/python_pybind11/test/Temperature_TEST.py b/src/python_pybind11/test/Temperature_TEST.py
index 4955804e5..6394c8035 100644
--- a/src/python_pybind11/test/Temperature_TEST.py
+++ b/src/python_pybind11/test/Temperature_TEST.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import Temperature
+from gz.math import Temperature
 
 
 class TestTemperature(unittest.TestCase):
diff --git a/src/python_pybind11/test/Triangle3_TEST.py b/src/python_pybind11/test/Triangle3_TEST.py
index 13b1170bb..188a7e9d8 100644
--- a/src/python_pybind11/test/Triangle3_TEST.py
+++ b/src/python_pybind11/test/Triangle3_TEST.py
@@ -14,9 +14,9 @@
 
 import math
 import unittest
-from ignition.math import Line3d
-from ignition.math import Triangle3d
-from ignition.math import Vector3d
+from gz.math import Line3d
+from gz.math import Triangle3d
+from gz.math import Vector3d
 
 
 class TestTriangle(unittest.TestCase):
diff --git a/src/python_pybind11/test/Triangle_TEST.py b/src/python_pybind11/test/Triangle_TEST.py
index 4973b7d0b..7e482edf0 100644
--- a/src/python_pybind11/test/Triangle_TEST.py
+++ b/src/python_pybind11/test/Triangle_TEST.py
@@ -14,9 +14,9 @@
 
 import math
 import unittest
-from ignition.math import Line2d
-from ignition.math import Triangled
-from ignition.math import Vector2d
+from gz.math import Line2d
+from gz.math import Triangled
+from gz.math import Vector2d
 
 
 class TestTriangle(unittest.TestCase):
diff --git a/src/python_pybind11/test/Vector2_TEST.py b/src/python_pybind11/test/Vector2_TEST.py
index 597bb35b6..af6d92412 100644
--- a/src/python_pybind11/test/Vector2_TEST.py
+++ b/src/python_pybind11/test/Vector2_TEST.py
@@ -16,8 +16,8 @@
 import math
 import unittest
 
-from ignition.math import Vector2d
-from ignition.math import Vector2f
+from gz.math import Vector2d
+from gz.math import Vector2f
 
 
 class TestVector2(unittest.TestCase):
diff --git a/src/python_pybind11/test/Vector3Stats_TEST.py b/src/python_pybind11/test/Vector3Stats_TEST.py
index d9e04f9d8..c4d28eef5 100644
--- a/src/python_pybind11/test/Vector3Stats_TEST.py
+++ b/src/python_pybind11/test/Vector3Stats_TEST.py
@@ -13,8 +13,8 @@
 # limitations under the License.
 
 import unittest
-from ignition.math import Vector3d
-from ignition.math import Vector3Stats
+from gz.math import Vector3d
+from gz.math import Vector3Stats
 
 
 class TestVector3Stats(unittest.TestCase):
diff --git a/src/python_pybind11/test/Vector3_TEST.py b/src/python_pybind11/test/Vector3_TEST.py
index ea2b9fdb6..33462968b 100644
--- a/src/python_pybind11/test/Vector3_TEST.py
+++ b/src/python_pybind11/test/Vector3_TEST.py
@@ -16,8 +16,8 @@
 import math
 import unittest
 
-from ignition.math import Vector3d
-from ignition.math import Vector3f
+from gz.math import Vector3d
+from gz.math import Vector3f
 
 
 class TestVector3(unittest.TestCase):
diff --git a/src/python_pybind11/test/Vector4_TEST.py b/src/python_pybind11/test/Vector4_TEST.py
index e8f57f7da..7cd0d8e53 100644
--- a/src/python_pybind11/test/Vector4_TEST.py
+++ b/src/python_pybind11/test/Vector4_TEST.py
@@ -16,8 +16,8 @@
 import math
 import unittest
 
-from ignition.math import Vector4d
-from ignition.math import Vector4f
+from gz.math import Vector4d
+from gz.math import Vector4f
 
 
 class TestVector4(unittest.TestCase):
diff --git a/src/ruby/CMakeLists.txt b/src/ruby/CMakeLists.txt
index 9b0305630..59095ac96 100644
--- a/src/ruby/CMakeLists.txt
+++ b/src/ruby/CMakeLists.txt
@@ -26,7 +26,7 @@ endif()
 # Create and install Ruby interfaces
 # Example usage
 # $ export RUBYLIB=/usr/local/lib/ruby
-# $ ruby -e "require 'ignition/math'; a = Gz::Math::Angle.new(20); puts a.Degree()"
+# $ ruby -e "require 'gz/math'; a = Gz::Math::Angle.new(20); puts a.Degree()"
 if (RUBY_FOUND)
   foreach (swig_file ${swig_files})
     # Assuming that each swig file has a test
@@ -72,20 +72,20 @@ if (RUBY_FOUND)
   if(USE_SYSTEM_PATHS_FOR_RUBY_INSTALLATION)
     execute_process(
       COMMAND ${RUBY_EXECUTABLE} -r rbconfig -e "print RbConfig::CONFIG['vendordir']"
-      OUTPUT_VARIABLE IGN_RUBY_INSTALL_PATH
+      OUTPUT_VARIABLE GZ_RUBY_INSTALL_PATH
       OUTPUT_STRIP_TRAILING_WHITESPACE)
   else()
-      set(IGN_RUBY_INSTALL_PATH ${IGN_LIB_INSTALL_DIR}/ruby)
+      set(GZ_RUBY_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/ruby)
   endif()
-  set(IGN_RUBY_INSTALL_PATH "${IGN_RUBY_INSTALL_PATH}/ignition")
-  install(TARGETS ${SWIG_RB_LIB} DESTINATION ${IGN_RUBY_INSTALL_PATH})
+  set(GZ_RUBY_INSTALL_PATH "${GZ_RUBY_INSTALL_PATH}/gz")
+  install(TARGETS ${SWIG_RB_LIB} DESTINATION ${GZ_RUBY_INSTALL_PATH})
 
   # Add the ruby tests
   set(_env_vars)
   list(APPEND _env_vars "LD_LIBRARY_PATH=${FAKE_INSTALL_PREFIX}/lib:$ENV{LD_LIBRARY_PATH}")
   foreach (test ${ruby_tests})
     add_test(NAME ${test}.rb COMMAND
-      ruby -I${FAKE_INSTALL_PREFIX}/lib/ruby/ignition ${CMAKE_SOURCE_DIR}/src/ruby/${test}.rb
+      ruby -I${FAKE_INSTALL_PREFIX}/lib/ruby/gz ${CMAKE_SOURCE_DIR}/src/ruby/${test}.rb
          --gtest_output=xml:${CMAKE_BINARY_DIR}/test_results/${test}rb.xml)
     set_tests_properties(${test}.rb PROPERTIES
       ENVIRONMENT "${_env_vars}")
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 754634a3f..9038be88c 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -6,7 +6,7 @@ include_directories (
 )
 
 #============================================================================
-# Do a fake install of ign-math in order to test the examples.
+# Do a fake install of gz-math in order to test the examples.
 #============================================================================
 # install to FAKE_INSTALL_PREFIX defined in root CMakeLists.txt
 
diff --git a/test/integration/all_symbols_have_version.bash.in b/test/integration/all_symbols_have_version.bash.in
index f95072554..0809555fb 100644
--- a/test/integration/all_symbols_have_version.bash.in
+++ b/test/integration/all_symbols_have_version.bash.in
@@ -2,10 +2,10 @@
 
 LIBPATH=$1
 VERSIONED_NS=v@PROJECT_VERSION_MAJOR@
-IGN_PROJECT=@IGN_DESIGNATION@
+GZ_PROJECT=@GZ_DESIGNATION@
 
 # Sanity check - there should be at least one symbol
-NUM_SYMBOLS=$(nm $LIBPATH | grep -e "gz.*$IGN_PROJECT" | wc -l)
+NUM_SYMBOLS=$(nm $LIBPATH | grep -e "gz.*$GZ_PROJECT" | wc -l)
 
 if [ $NUM_SYMBOLS -eq 0 ]
 then
@@ -14,7 +14,7 @@ then
 fi
 
 # There must be no unversioned symbols
-UNVERSIONED_SYMBOLS=$(nm $LIBPATH | grep -e "gz.*$IGN_PROJECT" | grep -e "$VERSIONED_NS" -v)
+UNVERSIONED_SYMBOLS=$(nm $LIBPATH | grep -e "gz.*$GZ_PROJECT" | grep -e "$VERSIONED_NS" -v)
 UNVERSIONED_SYMBOL_CHARS=$(printf "$UNVERSIONED_SYMBOLS" | wc -m)
 
 if [ $UNVERSIONED_SYMBOL_CHARS -ne 0 ]
diff --git a/tutorials.md.in b/tutorials.md.in
index 7aef95483..28c98ba9d 100644
--- a/tutorials.md.in
+++ b/tutorials.md.in
@@ -1,8 +1,8 @@
 \page tutorials Tutorials
 
-Welcome to the Gazebo @IGN_DESIGNATION_CAP@ tutorials. These tutorials
+Welcome to the Gazebo @GZ_DESIGNATION_CAP@ tutorials. These tutorials
 will guide you through the process of understanding the capabilities of the
-Gazebo @IGN_DESIGNATION_CAP@ library and how to use the library effectively.
+Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively.
 
 
 **The tutorials**
diff --git a/tutorials/installation.md b/tutorials/installation.md
index 64a11cdf7..2a729c608 100644
--- a/tutorials/installation.md
+++ b/tutorials/installation.md
@@ -26,7 +26,7 @@ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 
 Install Gazebo Math:
 ```
-sudo apt install libignition-math<#>-dev
+sudo apt install libgz-math<#>-dev
 ```
 
 Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
@@ -42,7 +42,7 @@ On macOS, add OSRF packages:
 
 Install Gazebo Math:
   ```
-  brew install ignition-math<#>
+  brew install gz-math<#>
   ```
 
 Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
@@ -61,7 +61,7 @@ conda activate gz-ws
 
 Install:
 ```
-conda install libignition-math<#> --channel conda-forge
+conda install libgz-math<#> --channel conda-forge
 ```
 
 Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
@@ -188,13 +188,13 @@ The optional Eigen component of Gazebo Math requires:
 
   You can view available versions and their dependencies:
   ```
-  conda search libignition-math* --channel conda-forge --info
+  conda search libgz-math* --channel conda-forge --info
   ```
-  See the [Conda release repository](https://github.com/conda-forge/libignition-math4-feedstock) for more information.
+  See the [Conda release repository](https://github.com/conda-forge/libgz-math4-feedstock) for more information.
 
   Install dependencies, replacing `<#>` with the desired version:
   ```
-  conda install libignition-cmake<#> --channel conda-forge
+  conda install libgz-cmake<#> --channel conda-forge
   ```
 
 3. Navigate to where you would like to build the library, and clone the repository.