diff --git a/include/sdf/Box.hh b/include/sdf/Box.hh
index ce2ab9e80..3aefc3a73 100644
--- a/include/sdf/Box.hh
+++ b/include/sdf/Box.hh
@@ -57,11 +57,11 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
-    /// \brief Get the Ignition Math representation of this Box.
+    /// \brief Get the Gazebo Math representation of this Box.
     /// \return A const reference to an gz::math::Boxd object.
     public: const gz::math::Boxd &Shape() const;
 
-    /// \brief Get a mutable Ignition Math representation of this Box.
+    /// \brief Get a mutable Gazebo Math representation of this Box.
     /// \return A reference to an gz::math::Boxd object.
     public: gz::math::Boxd &Shape();
 
diff --git a/include/sdf/Capsule.hh b/include/sdf/Capsule.hh
index f7a17a713..5b27685a8 100644
--- a/include/sdf/Capsule.hh
+++ b/include/sdf/Capsule.hh
@@ -64,11 +64,11 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
-    /// \brief Get the Ignition Math representation of this Capsule.
+    /// \brief Get the Gazebo Math representation of this Capsule.
     /// \return A const reference to an gz::math::Sphered object.
     public: const gz::math::Capsuled &Shape() const;
 
-    /// \brief Get a mutable Ignition Math representation of this Capsule.
+    /// \brief Get a mutable Gazebo Math representation of this Capsule.
     /// \return A reference to an gz::math::Capsuled object.
     public: gz::math::Capsuled &Shape();
 
diff --git a/include/sdf/Cylinder.hh b/include/sdf/Cylinder.hh
index 51cfc7d75..3ca2ad3e8 100644
--- a/include/sdf/Cylinder.hh
+++ b/include/sdf/Cylinder.hh
@@ -64,11 +64,11 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
-    /// \brief Get the Ignition Math representation of this Cylinder.
+    /// \brief Get the Gazebo Math representation of this Cylinder.
     /// \return A const reference to an gz::math::Sphered object.
     public: const gz::math::Cylinderd &Shape() const;
 
-    /// \brief Get a mutable Ignition Math representation of this Cylinder.
+    /// \brief Get a mutable Gazebo Math representation of this Cylinder.
     /// \return A reference to an gz::math::Cylinderd object.
     public: gz::math::Cylinderd &Shape();
 
diff --git a/include/sdf/Ellipsoid.hh b/include/sdf/Ellipsoid.hh
index e4be0cd8d..10faa4cf8 100644
--- a/include/sdf/Ellipsoid.hh
+++ b/include/sdf/Ellipsoid.hh
@@ -56,11 +56,11 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
-    /// \brief Get the Ignition Math representation of this Ellipsoid.
+    /// \brief Get the Gazebo Math representation of this Ellipsoid.
     /// \return A const reference to an gz::math::Ellipsoidd object.
     public: const gz::math::Ellipsoidd &Shape() const;
 
-    /// \brief Get a mutable Ignition Math representation of this Ellipsoid.
+    /// \brief Get a mutable Gazebo Math representation of this Ellipsoid.
     /// \return A reference to an gz::math::Ellipsoidd object.
     public: gz::math::Ellipsoidd &Shape();
 
diff --git a/include/sdf/Plane.hh b/include/sdf/Plane.hh
index d9a17a2db..f01f2f41e 100644
--- a/include/sdf/Plane.hh
+++ b/include/sdf/Plane.hh
@@ -72,11 +72,11 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
-    /// \brief Get the Ignition Math representation of this Plane.
+    /// \brief Get the Gazebo Math representation of this Plane.
     /// \return A const reference to an gz::math::Planed object.
     public: const gz::math::Planed &Shape() const;
 
-    /// \brief Get a mutable Ignition Math representation of this Plane.
+    /// \brief Get a mutable Gazebo Math representation of this Plane.
     /// \return A reference to an gz::math::Planed object.
     public: gz::math::Planed &Shape();
 
diff --git a/include/sdf/Sphere.hh b/include/sdf/Sphere.hh
index 651535e62..e5948e515 100644
--- a/include/sdf/Sphere.hh
+++ b/include/sdf/Sphere.hh
@@ -51,11 +51,11 @@ namespace sdf
     /// \param[in] _radius The radius of the sphere in meters.
     public: void SetRadius(const double _radius);
 
-    /// \brief Get the Ignition Math representation of this Sphere.
+    /// \brief Get the Gazebo Math representation of this Sphere.
     /// \return A const reference to an gz::math::Sphered object.
     public: const gz::math::Sphered &Shape() const;
 
-    /// \brief Get a mutable Ignition Math representation of this Sphere.
+    /// \brief Get a mutable Gazebo Math representation of this Sphere.
     /// \return A reference to an gz::math::Sphered object.
     public: gz::math::Sphered &Shape();
 
diff --git a/python/src/sdf/pyBox.cc b/python/src/sdf/pyBox.cc
index 2040c9c2a..31d9d8f08 100644
--- a/python/src/sdf/pyBox.cc
+++ b/python/src/sdf/pyBox.cc
@@ -41,7 +41,7 @@ void defineBox(pybind11::object module)
         "shape",
         pybind11::overload_cast<>(&sdf::Box::Shape, pybind11::const_),
         pybind11::return_value_policy::reference,
-        "Get a mutable Ignition Math representation of this Box.")
+        "Get a mutable Gazebo Math representation of this Box.")
     .def("__copy__", [](const sdf::Box &self) {
       return sdf::Box(self);
     })
diff --git a/python/src/sdf/pyCapsule.cc b/python/src/sdf/pyCapsule.cc
index 4fc2c694d..ac25cd917 100644
--- a/python/src/sdf/pyCapsule.cc
+++ b/python/src/sdf/pyCapsule.cc
@@ -45,7 +45,7 @@ void defineCapsule(pybind11::object module)
         "shape",
         pybind11::overload_cast<>(&sdf::Capsule::Shape, pybind11::const_),
         pybind11::return_value_policy::reference,
-        "Get a mutable Ignition Math representation of this Capsule.")
+        "Get a mutable Gazebo Math representation of this Capsule.")
     .def("__copy__", [](const sdf::Capsule &self) {
       return sdf::Capsule(self);
     })
diff --git a/python/src/sdf/pyCylinder.cc b/python/src/sdf/pyCylinder.cc
index 49337ceba..83af7dda4 100644
--- a/python/src/sdf/pyCylinder.cc
+++ b/python/src/sdf/pyCylinder.cc
@@ -45,7 +45,7 @@ void defineCylinder(pybind11::object module)
         "shape",
         pybind11::overload_cast<>(&sdf::Cylinder::Shape, pybind11::const_),
         pybind11::return_value_policy::reference,
-        "Get a mutable Ignition Math representation of this Cylinder.")
+        "Get a mutable Gazebo Math representation of this Cylinder.")
     .def("__copy__", [](const sdf::Cylinder &self) {
       return sdf::Cylinder(self);
     })
diff --git a/python/src/sdf/pyEllipsoid.cc b/python/src/sdf/pyEllipsoid.cc
index 645ef7b9b..89fdb1454 100644
--- a/python/src/sdf/pyEllipsoid.cc
+++ b/python/src/sdf/pyEllipsoid.cc
@@ -41,7 +41,7 @@ void defineEllipsoid(pybind11::object module)
         "shape",
         pybind11::overload_cast<>(&sdf::Ellipsoid::Shape, pybind11::const_),
         pybind11::return_value_policy::reference,
-        "Get a mutable Ignition Math representation of this Ellipsoid.")
+        "Get a mutable Gazebo Math representation of this Ellipsoid.")
     .def("__copy__", [](const sdf::Ellipsoid &self) {
       return sdf::Ellipsoid(self);
     })
diff --git a/python/src/sdf/pyPlane.cc b/python/src/sdf/pyPlane.cc
index b3e0634c0..afd76ebca 100644
--- a/python/src/sdf/pyPlane.cc
+++ b/python/src/sdf/pyPlane.cc
@@ -50,7 +50,7 @@ void definePlane(pybind11::object module)
         "shape",
         pybind11::overload_cast<>(&sdf::Plane::Shape, pybind11::const_),
         pybind11::return_value_policy::reference,
-        "Get a mutable Ignition Math representation of this Plane.")
+        "Get a mutable Gazebo Math representation of this Plane.")
     .def("__copy__", [](const sdf::Plane &self) {
       return sdf::Plane(self);
     })
diff --git a/python/src/sdf/pySphere.cc b/python/src/sdf/pySphere.cc
index f9c59c2d1..06e991df7 100644
--- a/python/src/sdf/pySphere.cc
+++ b/python/src/sdf/pySphere.cc
@@ -41,7 +41,7 @@ void defineSphere(pybind11::object module)
         "shape",
         pybind11::overload_cast<>(&sdf::Sphere::Shape, pybind11::const_),
         pybind11::return_value_policy::reference,
-        "Get a mutable Ignition Math representation of this Sphere.")
+        "Get a mutable Gazebo Math representation of this Sphere.")
     .def("__copy__", [](const sdf::Sphere &self) {
       return sdf::Sphere(self);
     })
diff --git a/usd/src/Conversions.hh b/usd/src/Conversions.hh
index 50941a4a2..8d8af7429 100644
--- a/usd/src/Conversions.hh
+++ b/usd/src/Conversions.hh
@@ -33,16 +33,16 @@ namespace sdf
   //
   namespace usd
   {
-    /// \brief Specialized conversion from an Ignition Common Material
+    /// \brief Specialized conversion from an Gazebo Common Material
     /// to a SDF material
-    /// \param[in] _in Ignition Common Material.
+    /// \param[in] _in Gazebo Common Material.
     /// \return SDF material.
     sdf::Material convert(const gz::common::Material *_in);
 
-    /// \brief Specialized conversion from an SDF material to a Ignition Common
+    /// \brief Specialized conversion from an SDF material to a Gazebo Common
     /// material.
     /// \param[in] _in SDF material.
-    /// \param[out] _out The Ignition Common Material.
+    /// \param[out] _out The Gazebo Common Material.
     void convert(const sdf::Material &_in, gz::common::Material &_out);
   }
   }
diff --git a/usd/src/cmd/sdf2usd.cc b/usd/src/cmd/sdf2usd.cc
index 540b1125a..62a8412bf 100644
--- a/usd/src/cmd/sdf2usd.cc
+++ b/usd/src/cmd/sdf2usd.cc
@@ -211,7 +211,7 @@ std::string FindResourceUri(const gz::common::URI &_uri)
 
 void runCommand(const Options &_opt)
 {
-  // Configure SDF to fetch assets from ignition fuel.
+  // Configure SDF to fetch assets from Gazebo Fuel.
   sdf::setFindCallback(std::bind(&FindResources, std::placeholders::_1));
   gz::common::addFindFileURICallback(
     std::bind(&FindResourceUri, std::placeholders::_1));
diff --git a/usd/src/sdf_parser/Sensor.cc b/usd/src/sdf_parser/Sensor.cc
index e99b2a53f..6494c0f60 100644
--- a/usd/src/sdf_parser/Sensor.cc
+++ b/usd/src/sdf_parser/Sensor.cc
@@ -82,7 +82,7 @@ namespace usd
     else
     {
       // The default value in USD is 50, but something more
-      // similar to ignition Gazebo is 40.
+      // similar to Gazebo Sim is 40.
       usdCamera.CreateFocalLengthAttr().Set(
           static_cast<float>(40.0f));
     }
diff --git a/usd/src/usd_parser/USDSensors.cc b/usd/src/usd_parser/USDSensors.cc
index 675ac60f9..6ed7122c0 100644
--- a/usd/src/usd_parser/USDSensors.cc
+++ b/usd/src/usd_parser/USDSensors.cc
@@ -71,7 +71,7 @@ namespace sdf
       camera.SetName(_prim.GetPath().GetName());
       camera.SetHorizontalFov(20.955);
       camera.SetLensFocalLength(focalLength);
-      // Camera is Y up axis, rotate the camera to match with Ignition
+      // Camera is Y up axis, rotate the camera to match with Gazebo
       gz::math::Pose3d poseCamera(0, 0, 0, GZ_PI_2, 0, -GZ_PI_2);
       sensor.SetRawPose(pose * -poseCamera);
       camera.SetNearClip(clippingRange[0]);
diff --git a/usd/src/usd_parser/USDWorld.cc b/usd/src/usd_parser/USDWorld.cc
index 8debf1c75..78d8e8cba 100644
--- a/usd/src/usd_parser/USDWorld.cc
+++ b/usd/src/usd_parser/USDWorld.cc
@@ -405,7 +405,7 @@ namespace usd
 
     if (_useGazeboPlugins)
     {
-      // Add some plugins to run the Ignition Gazebo simulation
+      // Add some plugins to run the Gazebo Sim simulation
       sdf::Plugin physicsPlugin;
       physicsPlugin.SetName("gz::sim::systems::Physics");
       physicsPlugin.SetFilename("ignition-gazebo-physics-system");