diff --git a/CMakeLists.txt b/CMakeLists.txt
index 47c86c337..d23845a1d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,8 +64,8 @@ if (BUILD_SDF)
   endif()
 
   #################################################
-  # Find ign command line utility:
-  find_program(GZ_PROGRAM ign)
+  # Find gz command line utility:
+  find_program(GZ_PROGRAM gz)
 
   #################################################
   # Copied from catkin/cmake/empy.cmake
diff --git a/Changelog.md b/Changelog.md
index 3b6f9284e..3240e0ccb 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -38,7 +38,7 @@
 1. Add `L16` pixel format to Camera pixel format conversion function
     * [Pull request #487](https://github.com/gazebosim/sdformat/pull/487)
 
-1. Added ``--inertial-stats`` option to ``ign sdf``
+1. Added ``--inertial-stats`` option to ``gz sdf``
     * [Pull request #936](https://github.com/gazebosim/sdformat/pull/936)
 
 1. Added `anti_aliasing` element to camera's SDF
@@ -925,7 +925,7 @@
 
 ### libsdformat 10.2.0 (2021-01-12)
 
-1. Disable ign test on Windows
+1. Disable gz test on Windows
     + [Pull request 456](https://github.com/osrf/sdformat/pull/456)
 
 1. Add Heightmap class
@@ -1026,7 +1026,7 @@
 1. Added `<shininess>` to `<material>`
     * [Pull request #985](https://github.com/gazebosim/sdformat/pull/985)
 
-1. Backport ``ign sdf --inertial-stats``
+1. Backport ``gz sdf --inertial-stats``
     * [Pull request #958](https://github.com/gazebosim/sdformat/pull/958)
 
 1. Add L16 pixel format to Camera pixel format conversion function
@@ -1361,10 +1361,10 @@
 
 ### libsdformat 9.0.0 (2019-12-10)
 
-1. Move recursiveSameTypeUniqueNames from ign.cc to parser.cc and make public.
+1. Move recursiveSameTypeUniqueNames from gz.cc to parser.cc and make public.
     * [BitBucket pull request 606](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/606)
 
-1. Check that joints have valid parent and child names in `ign sdf --check`.
+1. Check that joints have valid parent and child names in `gz sdf --check`.
     * [BitBucket pull request 609](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/609)
 
 1. Model DOM: error when trying to load nested models, which aren't yet supported.
@@ -1382,7 +1382,7 @@
 1. Relax name checking, so name collisions generate warnings and names are automatically changed.
     * [BitBucket pull request 621](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/621)
 
-1. Unversioned library name for ign tool commands.
+1. Unversioned library name for gz tool commands.
     * [BitBucket pull request 612](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/612)
 
 1. Initial version of SDFormat 1.7 specification.
@@ -1544,7 +1544,7 @@
 1. Use inline namespaces in Utils.cc
     * [BitBucket pull request 574](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/574)
 
-1. Convert `ign sdf` file inputs to absolute paths before processing them
+1. Convert `gz sdf` file inputs to absolute paths before processing them
     * [BitBucket pull request 583](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/583)
 
 1. Add `emissive_map` to material sdf
@@ -1581,11 +1581,11 @@
 1. Move private headers from include/sdf to src folder.
     * [BitBucket pull request 553](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/553)
 
-1. Fix ign library path on macOS.
+1. Fix gz library path on macOS.
     * [BitBucket pull request 542](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/542)
     * [BitBucket pull request 564](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/564)
 
-1. Use `ign sdf --check` to check sibling elements of the same type for non-unique names.
+1. Use `gz sdf --check` to check sibling elements of the same type for non-unique names.
     * [BitBucket pull request 554](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/554)
 
 1. Converter: remove all matching elements specified by `<remove>` tag.
@@ -1769,7 +1769,7 @@
     * [BitBucket pull request 476](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/476)
     * [BitBucket pull request 463](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/463)
 
-1. Fix ign library path on macOS.
+1. Fix gz library path on macOS.
     * [BitBucket pull request 542](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/542)
 
 1. Preserve XML elements that are not part of the SDF specification.
@@ -1826,7 +1826,7 @@
 
 ### libsdformat 6.3.0 (2021-06-21)
 
-1. Move recursiveSameTypeUniqueNames from ign.cc to parser.cc and make public.
+1. Move recursiveSameTypeUniqueNames from gz.cc to parser.cc and make public.
     * [Pull request 580](https://github.com/osrf/sdformat/pull/580)
 
 1. Parse rpyOffset as radians
@@ -1841,10 +1841,10 @@
 1. Avoid hardcoding /machine:x64 flag on 64-bit on MSVC with CMake >= 3.5.
     * [BitBucket pull request 565](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/565)
 
-1. Fix ign library path on macOS.
+1. Fix gz library path on macOS.
     * [BitBucket pull request 552](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/552)
 
-1. Use `ign sdf --check` to check sibling elements of the same type for non-unique names.
+1. Use `gz sdf --check` to check sibling elements of the same type for non-unique names.
     * [BitBucket pull request 554](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/554)
 
 1. Converter: remove all matching elements specified by `<remove>` tag.
diff --git a/Migration.md b/Migration.md
index 4614d68d1..97e2e95e9 100644
--- a/Migration.md
+++ b/Migration.md
@@ -25,6 +25,20 @@ but with improved human-readability..
 - **sdf/Types.hh**: The `Inertia` class has been deprecated. Please use the
    `Inertial` class in the `gz-math` library.
 
+- **sdf/Joint.hh**:
+   + ***Deprecation:*** const std::string &ChildLinkName() const
+   + ***Replacement:*** const std::string &ChildName() const
+   + ***Deprecation:*** const std::string &ParentLinkName() const
+   + ***Replacement:*** const std::string &ParentName() const
+   + ***Deprecation:*** void SetChildLinkName(const std::string &)
+   + ***Replacement:*** void SetChildName(const std::string &)
+   + ***Deprecation:*** void SetParentLinkName(const std::string &)
+   + ***Replacement:*** void SetParentName(const std::string &)
+
+- **sdf/parser.hh**:
+   + ***Deprecation:*** bool checkJointParentChildLinkNames(const sdf::Root \*)
+   + ***Replacement:*** bool checkJointParentChildNames(const sdf::Root \*)
+
 ## libsdformat 11.x to 12.0
 
 An error is now emitted instead of a warning for a file containing more than
@@ -619,7 +633,7 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
       Uniqueness is forced so that referencing implicit frames is not ambiguous,
       e.g. you cannot have a link and joint share an implicit frame name.
       Some existing SDFormat models may not comply with this requirement.
-      The `ign sdf --check` command can be used to identify models that violate
+      The `gz sdf --check` command can be used to identify models that violate
       this requirement.
     + [BitBucket pull request 600](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/600)
 
diff --git a/README.md b/README.md
index 8a04d4b9a..1a23d1aed 100644
--- a/README.md
+++ b/README.md
@@ -79,8 +79,8 @@ Miniconda suffices.
 
 Create if necessary, and activate a Conda environment:
 ```
-conda create -n ign-ws
-conda activate ign-ws
+conda create -n gz-ws
+conda activate gz-ws
 ```
 
 Install `sdformat`:
@@ -184,8 +184,8 @@ Miniconda suffices.
 
 Create if necessary, and activate a Conda environment:
 ```
-conda create -n ign-ws
-conda activate ign-ws
+conda create -n gz-ws
+conda activate gz-ws
 ```
 
 Install prerequisites:
diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt
index ce562797d..186ac0a82 100644
--- a/conf/CMakeLists.txt
+++ b/conf/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Used only for internal testing.
-set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${PROJECT_NAME}")
+set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/gz/cmd${PROJECT_NAME}")
 
 # Generate a configuration file for internal testing.
 # Note that the major version of the library is included in the name.
@@ -9,7 +9,7 @@ configure_file(
     "${CMAKE_BINARY_DIR}/test/conf/${PROJECT_NAME}.yaml" @ONLY)
 
 # Used for the installed version.
-set(gz_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${PROJECT_NAME}")
+set(gz_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/gz/cmd${PROJECT_NAME}")
 
 # Generate the configuration file that is installed.
 # Note that the major version of the library is included in the name.
diff --git a/include/sdf/Joint.hh b/include/sdf/Joint.hh
index cb3972f6e..73764b7e7 100644
--- a/include/sdf/Joint.hh
+++ b/include/sdf/Joint.hh
@@ -113,21 +113,41 @@ namespace sdf
     /// \param[in] _jointType The type of joint.
     public: void SetType(const JointType _jointType);
 
+    /// \brief Get the name of this joint's parent frame.
+    /// \return The name of the parent frame.
+    public: const std::string &ParentName() const;
+
+    /// \brief Set the name of the parent frame.
+    /// \param[in] _name Name of the parent frame.
+    public: void SetParentName(const std::string &_name);
+
+    /// \brief Get the name of this joint's child frame.
+    /// \return The name of the child frame.
+    public: const std::string &ChildName() const;
+
+    /// \brief Set the name of the child frame.
+    /// \param[in] _name Name of the child frame.
+    public: void SetChildName(const std::string &_name);
+
     /// \brief Get the name of this joint's parent link.
     /// \return The name of the parent link.
-    public: const std::string &ParentLinkName() const;
+    /// \deprecated Use ParentName.
+    public: GZ_DEPRECATED(13) const std::string &ParentLinkName() const;
 
     /// \brief Set the name of the parent link.
     /// \param[in] _name Name of the parent link.
-    public: void SetParentLinkName(const std::string &_name);
+    /// \deprecated Use SetParentName.
+    public: GZ_DEPRECATED(13) void SetParentLinkName(const std::string &_name);
 
     /// \brief Get the name of this joint's child link.
     /// \return The name of the child link.
-    public: const std::string &ChildLinkName() const;
+    /// \deprecated Use ChildName.
+    public: GZ_DEPRECATED(13) const std::string &ChildLinkName() const;
 
     /// \brief Set the name of the child link.
     /// \param[in] _name Name of the child link.
-    public: void SetChildLinkName(const std::string &_name);
+    /// \deprecated Use SetChildName.
+    public: GZ_DEPRECATED(13) void SetChildLinkName(const std::string &_name);
 
     /// \brief Resolve the name of the child link from the
     /// FrameAttachedToGraph.
diff --git a/include/sdf/Plugin.hh b/include/sdf/Plugin.hh
index c2cbaec25..05fbc8a52 100644
--- a/include/sdf/Plugin.hh
+++ b/include/sdf/Plugin.hh
@@ -80,7 +80,7 @@ namespace sdf
     /// The name of the plugin should be unique within the scope of its
     /// parent.
     /// \return Name of the plugin.
-    public: std::string Name() const;
+    public: const std::string &Name() const;
 
     /// \brief Set the name of the plugin.
     /// The name of the plugin should be unique within the scope of its
@@ -90,7 +90,7 @@ namespace sdf
 
     /// \brief Get the filename of the shared library.
     /// \return Filename of the shared library associated with the plugin.
-    public: std::string Filename() const;
+    public: const std::string &Filename() const;
 
     /// \brief Remove the contents of the plugin, this is everything that
     /// is a child element of the `<plugin>`.
diff --git a/include/sdf/parser.hh b/include/sdf/parser.hh
index 557c8e149..03df56462 100644
--- a/include/sdf/parser.hh
+++ b/include/sdf/parser.hh
@@ -393,6 +393,17 @@ namespace sdf
   /// \return True if all models have joints with valid parent and child
   /// link names.
   SDFORMAT_VISIBLE
+  bool checkJointParentChildNames(const sdf::Root *_root);
+
+  /// \brief Check that all joints in contained models specify parent
+  /// and child link names that match the names of sibling links.
+  /// This checks recursively and should check the files exhaustively
+  /// rather than terminating early when the first error is found.
+  /// \param[in] _root SDF Root object to check recursively.
+  /// \return True if all models have joints with valid parent and child
+  /// link names.
+  /// \deprecated Use checkJointParentChildNames.
+  SDFORMAT_VISIBLE GZ_DEPRECATED(13)
   bool checkJointParentChildLinkNames(const sdf::Root *_root);
 
   /// \brief Check that all joints in contained models specify parent
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 63e188d5a..44d1593de 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -69,6 +69,7 @@ pybind11_add_module(sdformat SHARED
   src/sdf/pyPlane.cc
   src/sdf/pyPlugin.cc
   src/sdf/pyRoot.cc
+  src/sdf/pyScene.cc
   src/sdf/pySemanticPose.cc
   src/sdf/pySensor.cc
   src/sdf/pySky.cc
@@ -126,6 +127,7 @@ if (BUILD_TESTING)
     pyPlane_TEST
     pyPlugin_TEST
     pyRoot_TEST
+    pyScene_TEST
     pySemanticPose_TEST
     pySensor_TEST
     pySky_TEST
diff --git a/python/src/sdf/_ignition_sdformat_pybind11.cc b/python/src/sdf/_ignition_sdformat_pybind11.cc
index 5d3f186be..e24abc082 100644
--- a/python/src/sdf/_ignition_sdformat_pybind11.cc
+++ b/python/src/sdf/_ignition_sdformat_pybind11.cc
@@ -47,6 +47,7 @@
 #include "pyPlane.hh"
 #include "pyPlugin.hh"
 #include "pyRoot.hh"
+#include "pyScene.hh"
 #include "pySemanticPose.hh"
 #include "pySensor.hh"
 #include "pySky.hh"
@@ -95,6 +96,7 @@ PYBIND11_MODULE(sdformat, m) {
   sdf::python::definePlane(m);
   sdf::python::definePlugin(m);
   sdf::python::defineRoot(m);
+  sdf::python::defineScene(m);
   sdf::python::defineSemanticPose(m);
   sdf::python::defineSensor(m);
   sdf::python::defineSky(m);
diff --git a/python/src/sdf/pyJoint.cc b/python/src/sdf/pyJoint.cc
index f154207dd..a8b3c5e50 100644
--- a/python/src/sdf/pyJoint.cc
+++ b/python/src/sdf/pyJoint.cc
@@ -45,14 +45,14 @@ void defineJoint(pybind11::object module)
          "Get the joint type")
     .def("set_type", &sdf::Joint::SetType,
          "Set the joint type.")
-    .def("parent_link_name", &sdf::Joint::ParentLinkName,
-         "Get the name of this joint's parent link.")
-    .def("set_parent_link_name", &sdf::Joint::SetParentLinkName,
-         "Set the name of the parent link.")
-    .def("child_link_name", &sdf::Joint::ChildLinkName,
-         "Get the name of this joint's child link.")
-    .def("set_child_link_name", &sdf::Joint::SetChildLinkName,
-         "Set the name of the child link")
+    .def("parent_name", &sdf::Joint::ParentName,
+         "Get the name of this joint's parent frame.")
+    .def("set_parent_name", &sdf::Joint::SetParentName,
+         "Set the name of the parent frame.")
+    .def("child_name", &sdf::Joint::ChildName,
+         "Get the name of this joint's child frame.")
+    .def("set_child_name", &sdf::Joint::SetChildName,
+         "Set the name of the child frame.")
     .def("resolve_child_link",
          [](const sdf::Joint &self)
          {
diff --git a/python/src/sdf/pyScene.cc b/python/src/sdf/pyScene.cc
new file mode 100644
index 000000000..2fe80e12e
--- /dev/null
+++ b/python/src/sdf/pyScene.cc
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "pyScene.hh"
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Scene.hh"
+
+using namespace pybind11::literals;
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/////////////////////////////////////////////////
+void defineScene(pybind11::object module)
+{
+  pybind11::class_<sdf::Scene>(module, "Scene")
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::Scene>())
+    .def("ambient", &sdf::Scene::Ambient,
+         "Get the ambient color of the scene")
+    .def("set_ambient", &sdf::Scene::SetAmbient,
+         "Set the ambient color of the scene")
+    .def("background", &sdf::Scene::Background,
+         "Get the background color of the scene")
+    .def("set_background", &sdf::Scene::SetBackground,
+         "Set the background color of the scene")
+    .def("grid", &sdf::Scene::Grid,
+         "Get whether grid is enabled")
+    .def("set_grid", &sdf::Scene::SetGrid,
+         "Set whether the grid should be enabled")
+    .def("origin_visual", &sdf::Scene::OriginVisual,
+         "Get whether origin visual is enabled")
+    .def("set_origin_visual", &sdf::Scene::SetOriginVisual,
+         "Set whether the origin visual should be enabled")
+    .def("shadows", &sdf::Scene::Shadows,
+         "Get whether shadows are enabled")
+    .def("set_shadows", &sdf::Scene::SetShadows,
+         "Set whether shadows should be enabled")
+    .def("set_sky", &sdf::Scene::SetSky,
+         "Set sky")
+    .def("sky", &sdf::Scene::Sky,
+         pybind11::return_value_policy::reference_internal,
+         "Get sky")
+    .def("__copy__", [](const sdf::Scene &self) {
+      return sdf::Scene(self);
+    })
+    .def("__deepcopy__", [](const sdf::Scene &self, pybind11::dict) {
+      return sdf::Scene(self);
+    }, "memo"_a);
+}
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
diff --git a/python/src/sdf/pyScene.hh b/python/src/sdf/pyScene.hh
new file mode 100644
index 000000000..3134a8499
--- /dev/null
+++ b/python/src/sdf/pyScene.hh
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SDFORMAT_PYTHON_SCENE_HH_
+#define SDFORMAT_PYTHON_SCENE_HH_
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Scene.hh"
+
+#include "sdf/config.hh"
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/// Define a pybind11 wrapper for an sdf::Scene
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineScene(pybind11::object module);
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
+
+#endif  // SDFORMAT_PYTHON_SCENE_HH_
diff --git a/python/test/pyJoint_TEST.py b/python/test/pyJoint_TEST.py
index f04c0dee3..0a0fa39c3 100644
--- a/python/test/pyJoint_TEST.py
+++ b/python/test/pyJoint_TEST.py
@@ -26,8 +26,8 @@ def test_default_construction(self):
         joint = Joint()
         self.assertFalse(joint.name())
         self.assertEqual(sdf.JointType.INVALID, joint.type())
-        self.assertFalse(joint.parent_link_name())
-        self.assertFalse(joint.child_link_name())
+        self.assertFalse(joint.parent_name())
+        self.assertFalse(joint.child_name())
         self.assertEqual(Pose3d.ZERO, joint.raw_pose())
         self.assertFalse(joint.pose_relative_to())
 
@@ -55,11 +55,11 @@ def test_default_construction(self):
         joint.set_name("test_joint")
         self.assertEqual("test_joint", joint.name())
 
-        joint.set_parent_link_name("parent")
-        self.assertEqual("parent", joint.parent_link_name())
+        joint.set_parent_name("parent")
+        self.assertEqual("parent", joint.parent_name())
 
-        joint.set_child_link_name("child")
-        self.assertEqual("child", joint.child_link_name())
+        joint.set_child_name("child")
+        self.assertEqual("child", joint.child_name())
 
         errors, resolveChildLink = joint.resolve_child_link()
         self.assertEqual(1, len(errors))
diff --git a/python/test/pyScene_TEST.py b/python/test/pyScene_TEST.py
new file mode 100644
index 000000000..e70d96c7a
--- /dev/null
+++ b/python/test/pyScene_TEST.py
@@ -0,0 +1,115 @@
+# Copyright (C) 2022 Open Source Robotics Foundation
+
+# Licensed under the Apache License, version 2.0 (the "License")
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#       http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import copy
+from ignition.math import Color
+from sdformat import Scene, Sky
+import unittest
+
+
+class SceneTEST(unittest.TestCase):
+
+    def test_default_construction(self):
+        scene = Scene()
+        self.assertEqual(Color(0.4, 0.4, 0.4), scene.ambient())
+        self.assertEqual(Color(0.7, 0.7, 0.7), scene.background())
+        self.assertTrue(scene.grid())
+        self.assertTrue(scene.shadows())
+        self.assertTrue(scene.origin_visual())
+        self.assertEqual(None, scene.sky())
+
+
+    def test_copy_construction(self):
+        scene = Scene()
+        scene.set_ambient(Color.BLUE)
+        scene.set_background(Color.RED)
+        scene.set_grid(False)
+        scene.set_shadows(False)
+        scene.set_origin_visual(False)
+        sky = Sky()
+        scene.set_sky(sky)
+
+        scene2 = Scene(scene)
+        self.assertEqual(Color.BLUE, scene2.ambient())
+        self.assertEqual(Color.RED, scene2.background())
+        self.assertFalse(scene2.grid())
+        self.assertFalse(scene2.shadows())
+        self.assertFalse(scene2.origin_visual())
+        self.assertNotEqual(None, scene2.sky())
+
+    def test_assignment(self):
+        scene = Scene()
+        scene.set_ambient(Color.RED)
+        scene.set_background(Color(0.2, 0.3, 0.4))
+        scene.set_grid(False)
+        scene.set_shadows(False)
+        scene.set_origin_visual(False)
+        sky = Sky()
+        scene.set_sky(sky)
+
+        scene2 = scene
+        self.assertEqual(Color.RED, scene2.ambient())
+        self.assertEqual(Color(0.2, 0.3, 0.4), scene2.background())
+        self.assertFalse(scene2.grid())
+        self.assertFalse(scene2.shadows())
+        self.assertFalse(scene2.origin_visual())
+        self.assertNotEqual(None, scene2.sky())
+
+    def test_deepcopy(self):
+        scene = Scene()
+        scene.set_ambient(Color.RED)
+        scene.set_background(Color(0.2, 0.3, 0.4))
+        scene.set_grid(False)
+        scene.set_shadows(False)
+        scene.set_origin_visual(False)
+        sky = Sky()
+        scene.set_sky(sky)
+
+        scene2 = copy.deepcopy(scene)
+        self.assertEqual(Color.RED, scene2.ambient())
+        self.assertEqual(Color(0.2, 0.3, 0.4), scene2.background())
+        self.assertFalse(scene2.grid())
+        self.assertFalse(scene2.shadows())
+        self.assertFalse(scene2.origin_visual())
+        self.assertNotEqual(None, scene2.sky())
+
+    def test_set(self):
+        scene = Scene()
+        scene.set_ambient(Color(0.1, 0.2, 0.3))
+        self.assertEqual(Color(0.1, 0.2, 0.3), scene.ambient())
+
+        scene.set_background(Color(0.2, 0.3, 0.4))
+        self.assertEqual(Color(0.2, 0.3, 0.4), scene.background())
+
+        scene.set_grid(True)
+        self.assertTrue(scene.grid())
+        scene.set_grid(False)
+        self.assertFalse(scene.grid())
+
+        scene.set_shadows(True)
+        self.assertTrue(scene.shadows())
+        scene.set_shadows(False)
+        self.assertFalse(scene.shadows())
+
+        scene.set_origin_visual(True)
+        self.assertTrue(scene.origin_visual())
+        scene.set_origin_visual(False)
+        self.assertFalse(scene.origin_visual())
+
+        sky = Sky()
+        scene.set_sky(sky)
+        self.assertNotEqual(None, scene.sky())
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f10dd510f..efa0464bf 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -30,7 +30,7 @@ endif()
 if (BUILD_TESTING)
   # Build this test file only if Ignition Tools is installed.
   if (NOT GZ_PROGRAM)
-    list(REMOVE_ITEM gtest_sources ign_TEST.cc)
+    list(REMOVE_ITEM gtest_sources gz_TEST.cc)
   endif()
 
   # Skip tests that don't work on Windows
diff --git a/src/Collision_TEST.cc b/src/Collision_TEST.cc
index f7b8a8019..cba078fbf 100644
--- a/src/Collision_TEST.cc
+++ b/src/Collision_TEST.cc
@@ -184,6 +184,11 @@ TEST(DOMCollision, ToElement)
   sdf::Contact contact;
   contact.SetCollideBitmask(123u);
   surface.SetContact(contact);
+  sdf::Friction friction;
+  sdf::ODE ode;
+  ode.SetMu(1.23);
+  friction.SetODE(ode);
+  surface.SetFriction(friction);
   collision.SetSurface(surface);
 
   sdf::ElementPtr elem = collision.ToElement();
@@ -199,4 +204,7 @@ TEST(DOMCollision, ToElement)
   ASSERT_NE(nullptr, surface2);
   ASSERT_NE(nullptr, surface2->Contact());
   EXPECT_EQ(123u, surface2->Contact()->CollideBitmask());
+  ASSERT_NE(nullptr, surface2->Friction());
+  ASSERT_NE(nullptr, surface2->Friction()->ODE());
+  EXPECT_DOUBLE_EQ(1.23, surface2->Friction()->ODE()->Mu());
 }
diff --git a/src/FrameSemantics.cc b/src/FrameSemantics.cc
index 787e3ea84..0b15cd9ba 100644
--- a/src/FrameSemantics.cc
+++ b/src/FrameSemantics.cc
@@ -383,7 +383,7 @@ struct JointWrapper : public WrapperBase
       : WrapperBase{_joint.Name(), "Joint", FrameType::JOINT},
         rawPose(_joint.RawPose()),
         rawRelativeTo(_joint.PoseRelativeTo()),
-        childName(_joint.ChildLinkName()),
+        childName(_joint.ChildName()),
         relativeTo(rawRelativeTo.empty() ? childName : rawRelativeTo)
   {
   }
diff --git a/src/Joint.cc b/src/Joint.cc
index 051967eb9..d4574a308 100644
--- a/src/Joint.cc
+++ b/src/Joint.cc
@@ -37,11 +37,11 @@ class sdf::Joint::Implementation
   /// \brief Name of the joint.
   public: std::string name = "";
 
-  /// \brief Name of the parent link.
-  public: std::string parentLinkName = "";
+  /// \brief Name of the parent frame.
+  public: std::string parentName = "";
 
-  /// \brief Name of the child link.
-  public: std::string childLinkName = "";
+  /// \brief Name of the child frame.
+  public: std::string childName = "";
 
   /// \brief the joint type.
   public: JointType type = JointType::INVALID;
@@ -117,11 +117,11 @@ Errors Joint::Load(ElementPtr _sdf)
     _sdf->Get<std::string>("parent", "");
   if (parentPair.second)
   {
-    this->dataPtr->parentLinkName = parentPair.first;
-    if (!isValidFrameReference(this->dataPtr->parentLinkName))
+    this->dataPtr->parentName = parentPair.first;
+    if (!isValidFrameReference(this->dataPtr->parentName))
     {
       errors.push_back({ErrorCode::RESERVED_NAME,
-          "The supplied joint parent name [" + this->dataPtr->parentLinkName +
+          "The supplied joint parent name [" + this->dataPtr->parentName +
               "] is not valid."});
     }
   }
@@ -135,11 +135,11 @@ Errors Joint::Load(ElementPtr _sdf)
   std::pair<std::string, bool> childPair = _sdf->Get<std::string>("child", "");
   if (childPair.second)
   {
-    this->dataPtr->childLinkName = childPair.first;
-    if (!isValidFrameReference(this->dataPtr->childLinkName))
+    this->dataPtr->childName = childPair.first;
+    if (!isValidFrameReference(this->dataPtr->childName))
     {
       errors.push_back({ErrorCode::RESERVED_NAME,
-          "The supplied joint child name [" + this->dataPtr->childLinkName +
+          "The supplied joint child name [" + this->dataPtr->childName +
               "] is not valid."});
     }
   }
@@ -149,19 +149,19 @@ Errors Joint::Load(ElementPtr _sdf)
         "The child element is missing."});
   }
 
-  if (this->dataPtr->childLinkName == "world")
+  if (this->dataPtr->childName == "world")
   {
     errors.push_back({ErrorCode::JOINT_CHILD_LINK_INVALID,
         "Joint with name[" + this->dataPtr->name +
         "] specified invalid child link [world]."});
   }
 
-  if (this->dataPtr->childLinkName == this->dataPtr->parentLinkName)
+  if (this->dataPtr->childName == this->dataPtr->parentName)
   {
     errors.push_back({ErrorCode::JOINT_PARENT_SAME_AS_CHILD,
         "Joint with name[" + this->dataPtr->name +
         "] must specify different frame names for "
-        "parent and child, while [" + this->dataPtr->childLinkName +
+        "parent and child, while [" + this->dataPtr->childName +
         "] was specified for both."});
   }
 
@@ -250,28 +250,52 @@ void Joint::SetType(const JointType _jointType)
   this->dataPtr->type = _jointType;
 }
 
+/////////////////////////////////////////////////
+const std::string &Joint::ParentName() const
+{
+  return this->dataPtr->parentName;
+}
+
+/////////////////////////////////////////////////
+void Joint::SetParentName(const std::string &_name)
+{
+  this->dataPtr->parentName = _name;
+}
+
+/////////////////////////////////////////////////
+const std::string &Joint::ChildName() const
+{
+  return this->dataPtr->childName;
+}
+
+/////////////////////////////////////////////////
+void Joint::SetChildName(const std::string &_name)
+{
+  this->dataPtr->childName = _name;
+}
+
 /////////////////////////////////////////////////
 const std::string &Joint::ParentLinkName() const
 {
-  return this->dataPtr->parentLinkName;
+  return this->ParentName();
 }
 
 /////////////////////////////////////////////////
 void Joint::SetParentLinkName(const std::string &_name)
 {
-  this->dataPtr->parentLinkName = _name;
+  this->SetParentName(_name);
 }
 
 /////////////////////////////////////////////////
 const std::string &Joint::ChildLinkName() const
 {
-  return this->dataPtr->childLinkName;
+  return this->ChildName();
 }
 
 /////////////////////////////////////////////////
 void Joint::SetChildLinkName(const std::string &_name)
 {
-  this->dataPtr->childLinkName = _name;
+  this->SetChildName(_name);
 }
 
 /////////////////////////////////////////////////
@@ -352,7 +376,7 @@ Errors Joint::ResolveChildLink(std::string &_link) const
   }
 
   std::string link;
-  errors = resolveFrameAttachedToBody(link, graph, this->ChildLinkName());
+  errors = resolveFrameAttachedToBody(link, graph, this->ChildName());
   if (errors.empty())
   {
     _link = link;
@@ -367,7 +391,7 @@ Errors Joint::ResolveParentLink(std::string &_link) const
 
   // special case for world, return without resolving since it's not in a
   // model's FrameAttachedToGraph
-  if ("world" == this->ParentLinkName())
+  if ("world" == this->ParentName())
   {
     _link = "world";
     return errors;
@@ -382,7 +406,7 @@ Errors Joint::ResolveParentLink(std::string &_link) const
   }
 
   std::string link;
-  errors = resolveFrameAttachedToBody(link, graph, this->ParentLinkName());
+  errors = resolveFrameAttachedToBody(link, graph, this->ParentName());
   if (errors.empty())
   {
     _link = link;
@@ -397,7 +421,7 @@ sdf::SemanticPose Joint::SemanticPose() const
       this->dataPtr->name,
       this->dataPtr->pose,
       this->dataPtr->poseRelativeTo,
-      this->ChildLinkName(),
+      this->ChildName(),
       this->dataPtr->poseRelativeToGraph);
 }
 
@@ -516,8 +540,8 @@ sdf::ElementPtr Joint::ToElement() const
   }
 
   elem->GetAttribute("type")->Set<std::string>(jointType);
-  elem->GetElement("parent")->Set<std::string>(this->ParentLinkName());
-  elem->GetElement("child")->Set<std::string>(this->ChildLinkName());
+  elem->GetElement("parent")->Set<std::string>(this->ParentName());
+  elem->GetElement("child")->Set<std::string>(this->ChildName());
   for (unsigned int i = 0u; i < 2u; ++i)
   {
     const JointAxis *axis =  this->Axis(i);
diff --git a/src/Joint_TEST.cc b/src/Joint_TEST.cc
index 49ed28a3b..50d4682e6 100644
--- a/src/Joint_TEST.cc
+++ b/src/Joint_TEST.cc
@@ -27,8 +27,14 @@ TEST(DOMJoint, Construction)
   sdf::Joint joint;
   EXPECT_TRUE(joint.Name().empty());
   EXPECT_EQ(sdf::JointType::INVALID, joint.Type());
+
+  EXPECT_TRUE(joint.ParentName().empty());
+  EXPECT_TRUE(joint.ChildName().empty());
+  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   EXPECT_TRUE(joint.ParentLinkName().empty());
   EXPECT_TRUE(joint.ChildLinkName().empty());
+  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
+
   EXPECT_EQ(gz::math::Pose3d::Zero, joint.RawPose());
   EXPECT_TRUE(joint.PoseRelativeTo().empty());
   EXPECT_EQ(nullptr, joint.Element());
@@ -59,11 +65,23 @@ TEST(DOMJoint, Construction)
   joint.SetName("test_joint");
   EXPECT_EQ("test_joint", joint.Name());
 
+  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   joint.SetParentLinkName("parent");
   EXPECT_EQ("parent", joint.ParentLinkName());
+  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
+  EXPECT_EQ("parent", joint.ParentName());
 
+  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   joint.SetChildLinkName("child");
   EXPECT_EQ("child", joint.ChildLinkName());
+  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
+  EXPECT_EQ("child", joint.ChildName());
+
+  joint.SetParentName("parent2");
+  EXPECT_EQ("parent2", joint.ParentName());
+
+  joint.SetChildName("child2");
+  EXPECT_EQ("child2", joint.ChildName());
 
   std::string body;
   EXPECT_FALSE(joint.ResolveChildLink(body).empty());
@@ -260,8 +278,8 @@ TEST(DOMJoint, ToElement)
   joint.SetRawPose({-1, -2, -3, 0, GZ_PI, 0});
   joint.SetPoseRelativeTo("link");
   joint.SetName("test_joint");
-  joint.SetParentLinkName("parent");
-  joint.SetChildLinkName("child");
+  joint.SetParentName("parent");
+  joint.SetChildName("child");
   joint.SetType(sdf::JointType::BALL);
   sdf::JointAxis axis;
   EXPECT_TRUE(axis.SetXyz(gz::math::Vector3d(1, 0, 0)).empty());
@@ -295,8 +313,8 @@ TEST(DOMJoint, ToElement)
             joint2.RawPose());
   EXPECT_EQ("link", joint2.PoseRelativeTo());
   EXPECT_EQ("test_joint", joint2.Name());
-  EXPECT_EQ("parent", joint2.ParentLinkName());
-  EXPECT_EQ("child", joint2.ChildLinkName());
+  EXPECT_EQ("parent", joint2.ParentName());
+  EXPECT_EQ("child", joint2.ChildName());
   EXPECT_EQ(sdf::JointType::BALL, joint2.Type());
   ASSERT_TRUE(nullptr != joint2.Axis(0));
   ASSERT_TRUE(nullptr != joint2.Axis(1));
@@ -308,12 +326,12 @@ TEST(DOMJoint, ToElement)
     EXPECT_NE(nullptr, joint.SensorByIndex(i));
 
   // make changes to DOM and verify ToElement produces updated values
-  joint2.SetParentLinkName("new_parent");
+  joint2.SetParentName("new_parent");
   sdf::ElementPtr joint2Elem = joint2.ToElement();
   EXPECT_NE(nullptr, joint2Elem);
   sdf::Joint joint3;
   joint3.Load(joint2Elem);
-  EXPECT_EQ("new_parent", joint3.ParentLinkName());
+  EXPECT_EQ("new_parent", joint3.ParentName());
 }
 
 /////////////////////////////////////////////////
diff --git a/src/Param.cc b/src/Param.cc
index d1f1b5643..cee4f1a2f 100644
--- a/src/Param.cc
+++ b/src/Param.cc
@@ -1353,7 +1353,7 @@ bool Param::Reparse(sdf::Errors &_errors)
     strToReparse = this->dataPtr->strValue.value();
   }
   // A default PrintConfig can be used here, as Reparse() is not called in the
-  // code path from the 'ign sdf -p' command.
+  // code path from the 'gz sdf -p' command.
   else if (!this->dataPtr->StringFromValueImpl(PrintConfig(),
                                                this->dataPtr->typeName,
                                                this->dataPtr->defaultValue,
diff --git a/src/Plugin.cc b/src/Plugin.cc
index 36ac812fe..9bbafc4f0 100644
--- a/src/Plugin.cc
+++ b/src/Plugin.cc
@@ -125,7 +125,7 @@ Errors Plugin::Load(ElementPtr _sdf)
 }
 
 /////////////////////////////////////////////////
-std::string Plugin::Name() const
+const std::string &Plugin::Name() const
 {
   return this->dataPtr->name;
 }
@@ -137,7 +137,7 @@ void Plugin::SetName(const std::string &_name)
 }
 
 /////////////////////////////////////////////////
-std::string Plugin::Filename() const
+const std::string &Plugin::Filename() const
 {
   return this->dataPtr->filename;
 }
diff --git a/src/Scene_TEST.cc b/src/Scene_TEST.cc
index 9002b6e03..de74359d7 100644
--- a/src/Scene_TEST.cc
+++ b/src/Scene_TEST.cc
@@ -148,8 +148,8 @@ TEST(DOMScene, Set)
   scene.SetAmbient(gz::math::Color(0.1f, 0.2f, 0.3f));
   EXPECT_EQ(gz::math::Color(0.1f, 0.2f, 0.3f), scene.Ambient());
 
-  scene.SetBackground(gz::math::Color(0.1f, 0.2f, 0.3f));
-  EXPECT_EQ(gz::math::Color(0.1f, 0.2f, 0.3f), scene.Ambient());
+  scene.SetBackground(gz::math::Color(0.2f, 0.3f, 0.4f));
+  EXPECT_EQ(gz::math::Color(0.2f, 0.3f, 0.4f), scene.Background());
 
   scene.SetGrid(true);
   EXPECT_TRUE(scene.Grid());
diff --git a/src/Surface.cc b/src/Surface.cc
index 331b8ccab..078b96f11 100644
--- a/src/Surface.cc
+++ b/src/Surface.cc
@@ -399,5 +399,9 @@ sdf::ElementPtr Surface::ToElement() const
   contactElem->GetElement("collide_bitmask")->Set(
       this->dataPtr->contact.CollideBitmask());
 
+  sdf::ElementPtr frictionElem = elem->GetElement("friction");
+  frictionElem->GetElement("ode")->GetElement("mu")->Set(
+      this->dataPtr->friction.ODE()->Mu());
+
   return elem;
 }
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index e831d413a..d45aadb1e 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -2,7 +2,7 @@
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: cmdsdformat0.rb
-set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${PROJECT_NAME}.rb")
+set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/gz/cmd${PROJECT_NAME}.rb")
 set(cmd_script_configured_test "${cmd_script_generated_test}.configured")
 
 # Set the library_location variable to the full path of the library file within
@@ -41,4 +41,4 @@ file(GENERATE
   INPUT  "${cmd_script_configured}")
 
 # Install the ruby command line library in an unversioned location.
-install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition)
+install(FILES ${cmd_script_generated} DESTINATION lib/ruby/gz)
diff --git a/src/cmd/cmdsdformat.rb.in b/src/cmd/cmdsdformat.rb.in
index a97a735dc..7c93d7680 100644
--- a/src/cmd/cmdsdformat.rb.in
+++ b/src/cmd/cmdsdformat.rb.in
@@ -36,7 +36,7 @@ COMMON_OPTIONS =
                '  --versions                        Show the available versions.'
 COMMANDS = {  'sdf' =>
                        "Utilities for SDF files.\n\n"\
-                       "  ign sdf [options]\n\n"\
+                       "  gz sdf [options]\n\n"\
                        "Options:\n\n"\
                        "  -k [ --check ] arg                Check if an SDFormat file is valid.\n" +
                        "  -d [ --describe ] [SPEC VERSION]  Print the aggregated SDFormat spec description. Default version (@SDF_PROTOCOL_VERSION@).\n" +
@@ -251,7 +251,7 @@ class Cmd
         end
       else
         puts 'Command error: I do not have an implementation for '\
-             "command [ign #{options['command']}]."
+             "command [gz #{options['command']}]."
       end
     rescue
       puts "Library error: Problem running [#{options['command']}]() "\
diff --git a/src/ign.cc b/src/gz.cc
similarity index 99%
rename from src/ign.cc
rename to src/gz.cc
index df036dcc1..c00bba916 100644
--- a/src/ign.cc
+++ b/src/gz.cc
@@ -35,7 +35,7 @@
 
 #include "FrameSemantics.hh"
 #include "ScopedGraph.hh"
-#include "ign.hh"
+#include "gz.hh"
 
 //////////////////////////////////////////////////
 extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path)
@@ -58,7 +58,7 @@ extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path)
     result = -1;
   }
 
-  if (!sdf::checkJointParentChildLinkNames(&root))
+  if (!sdf::checkJointParentChildNames(&root))
   {
     result = -1;
   }
diff --git a/src/ign.hh b/src/gz.hh
similarity index 94%
rename from src/ign.hh
rename to src/gz.hh
index d0c8aded8..cc6077858 100644
--- a/src/ign.hh
+++ b/src/gz.hh
@@ -27,7 +27,7 @@
 inline namespace SDF_VERSION_NAMESPACE {
 //
 
-/// \brief External hook to execute 'ign sdf -k' from the command line.
+/// \brief External hook to execute 'gz sdf -k' from the command line.
 /// \param[in] _path Path to the file to validate.
 /// \return Zero on success, negative one otherwise.
 extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path);
diff --git a/src/ign_TEST.cc b/src/gz_TEST.cc
similarity index 100%
rename from src/ign_TEST.cc
rename to src/gz_TEST.cc
diff --git a/src/parser.cc b/src/parser.cc
index 33ce82198..a05139fd0 100644
--- a/src/parser.cc
+++ b/src/parser.cc
@@ -2482,6 +2482,12 @@ bool checkPoseRelativeToGraph(const sdf::Root *_root)
 
 //////////////////////////////////////////////////
 bool checkJointParentChildLinkNames(const sdf::Root *_root)
+{
+  return checkJointParentChildNames(_root);
+}
+
+//////////////////////////////////////////////////
+bool checkJointParentChildNames(const sdf::Root *_root)
 {
   Errors errors;
   checkJointParentChildNames(_root, errors);
@@ -2505,7 +2511,7 @@ void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)
     {
       auto joint = _model->JointByIndex(j);
 
-      const std::string &parentName = joint->ParentLinkName();
+      const std::string &parentName = joint->ParentName();
       const std::string parentLocalName = sdf::SplitName(parentName).second;
 
       if (parentName != "world" && parentLocalName != "__model__" &&
@@ -2517,7 +2523,7 @@ void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)
           "] not found in model with name[" + _model->Name() + "]."});
       }
 
-      const std::string &childName = joint->ChildLinkName();
+      const std::string &childName = joint->ChildName();
       const std::string childLocalName = sdf::SplitName(childName).second;
       if (childName == "world")
       {
diff --git a/src/parser_TEST.cc b/src/parser_TEST.cc
index a543b038e..214ee14ba 100644
--- a/src/parser_TEST.cc
+++ b/src/parser_TEST.cc
@@ -149,8 +149,8 @@ TEST(Parser, readFileConversions)
 /////////////////////////////////////////////////
 TEST(Parser, NameUniqueness)
 {
-  // These tests are copies of the ones in ign_TEST.cc but use direct calls to
-  // name uniqueness validator functions instead of going through ign.
+  // These tests are copies of the ones in gz_TEST.cc but use direct calls to
+  // name uniqueness validator functions instead of going through gz.
 
   // Check an SDF file with sibling elements of the same type (world)
   // that have duplicate names.
diff --git a/test/integration/includes.cc b/test/integration/includes.cc
index 8f8880c5c..9a3a75b0f 100644
--- a/test/integration/includes.cc
+++ b/test/integration/includes.cc
@@ -526,14 +526,14 @@ TEST(IncludesTest, MergeInclude)
     // left_wheel_joint's axis is expressed in __model__.
     auto joint = model->JointByName("test_model_parent");
     ASSERT_NE(nullptr, joint);
-    EXPECT_EQ(prefixedFrameName, joint->ParentLinkName());
+    EXPECT_EQ(prefixedFrameName, joint->ParentName());
   }
   // Check joint child set as __model__
   {
     // left_wheel_joint's axis is expressed in __model__.
     auto joint = model->JointByName("test_model_child");
     ASSERT_NE(nullptr, joint);
-    EXPECT_EQ(prefixedFrameName, joint->ChildLinkName());
+    EXPECT_EQ(prefixedFrameName, joint->ChildName());
   }
 
   // Verify that plugins get merged
diff --git a/test/integration/joint_dom.cc b/test/integration/joint_dom.cc
index 3b242abc5..d32ab65d1 100644
--- a/test/integration/joint_dom.cc
+++ b/test/integration/joint_dom.cc
@@ -89,10 +89,10 @@ TEST(DOMJoint, DoublePendulum)
   ASSERT_NE(nullptr, lowerJoint);
 
   // Check the parent and child link values
-  EXPECT_EQ("base", upperJoint->ParentLinkName());
-  EXPECT_EQ("upper_link", upperJoint->ChildLinkName());
-  EXPECT_EQ("upper_link", lowerJoint->ParentLinkName());
-  EXPECT_EQ("lower_link", lowerJoint->ChildLinkName());
+  EXPECT_EQ("base", upperJoint->ParentName());
+  EXPECT_EQ("upper_link", upperJoint->ChildName());
+  EXPECT_EQ("upper_link", lowerJoint->ParentName());
+  EXPECT_EQ("lower_link", lowerJoint->ChildName());
 
   // Check that the pose relative_to values are empty
   EXPECT_TRUE(upperJoint->PoseRelativeTo().empty());
@@ -190,8 +190,8 @@ TEST(DOMJoint, LoadJointParentWorld)
   EXPECT_NE(nullptr, model->JointByIndex(0));
   EXPECT_EQ(nullptr, model->JointByIndex(1));
   ASSERT_TRUE(model->JointNameExists("joint"));
-  EXPECT_EQ("link", model->JointByName("joint")->ChildLinkName());
-  EXPECT_EQ("world", model->JointByName("joint")->ParentLinkName());
+  EXPECT_EQ("link", model->JointByName("joint")->ChildName());
+  EXPECT_EQ("world", model->JointByName("joint")->ParentName());
   std::string resolvedLinkName;
   EXPECT_TRUE(
     model->JointByName("joint")->ResolveChildLink(resolvedLinkName).empty());
@@ -250,8 +250,8 @@ TEST(DOMJoint, LoadJointParentModelFrame)
   EXPECT_EQ(1u, model->JointCount());
   auto *joint = model->JointByName("joint");
   ASSERT_NE(nullptr, joint);
-  EXPECT_EQ("child_link", model->JointByName("joint")->ChildLinkName());
-  EXPECT_EQ("__model__", model->JointByName("joint")->ParentLinkName());
+  EXPECT_EQ("child_link", model->JointByName("joint")->ChildName());
+  EXPECT_EQ("__model__", model->JointByName("joint")->ParentName());
   std::string resolvedLinkName;
   EXPECT_TRUE(joint->ResolveParentLink(resolvedLinkName).empty());
   EXPECT_EQ("base_link", resolvedLinkName);
@@ -282,8 +282,8 @@ TEST(DOMJoint, LoadJointChildModelFrame)
   EXPECT_EQ(1u, model->JointCount());
   auto *joint = model->JointByName("joint");
   ASSERT_NE(nullptr, joint);
-  EXPECT_EQ("__model__", model->JointByName("joint")->ChildLinkName());
-  EXPECT_EQ("parent_link", model->JointByName("joint")->ParentLinkName());
+  EXPECT_EQ("__model__", model->JointByName("joint")->ChildName());
+  EXPECT_EQ("parent_link", model->JointByName("joint")->ParentName());
   std::string resolvedLinkName;
   EXPECT_TRUE(joint->ResolveChildLink(resolvedLinkName).empty());
   EXPECT_EQ("base_link", resolvedLinkName);
@@ -333,8 +333,8 @@ TEST(DOMJoint, LoadJointParentFrame)
   EXPECT_NE(nullptr, model->JointByIndex(0));
   EXPECT_EQ(nullptr, model->JointByIndex(1));
   ASSERT_TRUE(model->JointNameExists("joint"));
-  EXPECT_EQ("child_link", model->JointByName("joint")->ChildLinkName());
-  EXPECT_EQ("parent_frame", model->JointByName("joint")->ParentLinkName());
+  EXPECT_EQ("child_link", model->JointByName("joint")->ChildName());
+  EXPECT_EQ("parent_frame", model->JointByName("joint")->ParentName());
 
   std::string resolvedLinkName;
   EXPECT_TRUE(
@@ -425,8 +425,8 @@ TEST(DOMJoint, LoadJointChildFrame)
   EXPECT_NE(nullptr, model->JointByIndex(0));
   EXPECT_EQ(nullptr, model->JointByIndex(1));
   ASSERT_TRUE(model->JointNameExists("joint"));
-  EXPECT_EQ("child_frame", model->JointByName("joint")->ChildLinkName());
-  EXPECT_EQ("parent_link", model->JointByName("joint")->ParentLinkName());
+  EXPECT_EQ("child_frame", model->JointByName("joint")->ChildName());
+  EXPECT_EQ("parent_link", model->JointByName("joint")->ParentName());
 
   std::string resolvedLinkName;
   EXPECT_TRUE(
@@ -844,8 +844,8 @@ TEST(DOMJoint, LoadJointNestedParentChild)
   {
     const sdf::Joint *j1 = model->JointByName("J1");
     ASSERT_NE(nullptr, j1);
-    EXPECT_EQ("M1::L1", j1->ParentLinkName());
-    EXPECT_EQ("L1", j1->ChildLinkName());
+    EXPECT_EQ("M1::L1", j1->ParentName());
+    EXPECT_EQ("L1", j1->ChildName());
 
     std::string resolvedLinkName;
     EXPECT_TRUE(j1->ResolveParentLink(resolvedLinkName).empty());
@@ -860,8 +860,8 @@ TEST(DOMJoint, LoadJointNestedParentChild)
   {
     const sdf::Joint *j2 = model->JointByName("J2");
     ASSERT_NE(nullptr, j2);
-    EXPECT_EQ("F1", j2->ParentLinkName());
-    EXPECT_EQ("L1", j2->ChildLinkName());
+    EXPECT_EQ("F1", j2->ParentName());
+    EXPECT_EQ("L1", j2->ChildName());
 
     std::string resolvedLinkName;
     EXPECT_TRUE(j2->ResolveParentLink(resolvedLinkName).empty());
@@ -876,8 +876,8 @@ TEST(DOMJoint, LoadJointNestedParentChild)
   {
     const sdf::Joint *j3 = model->JointByName("J3");
     ASSERT_NE(nullptr, j3);
-    EXPECT_EQ("L1", j3->ParentLinkName());
-    EXPECT_EQ("M1::L2", j3->ChildLinkName());
+    EXPECT_EQ("L1", j3->ParentName());
+    EXPECT_EQ("M1::L2", j3->ChildName());
 
     std::string resolvedLinkName;
     EXPECT_TRUE(j3->ResolveParentLink(resolvedLinkName).empty());
@@ -892,8 +892,8 @@ TEST(DOMJoint, LoadJointNestedParentChild)
   {
     const sdf::Joint *j4 = model->JointByName("J4");
     ASSERT_NE(nullptr, j4);
-    EXPECT_EQ("L1", j4->ParentLinkName());
-    EXPECT_EQ("M1::F1", j4->ChildLinkName());
+    EXPECT_EQ("L1", j4->ParentName());
+    EXPECT_EQ("M1::F1", j4->ChildName());
 
     std::string resolvedLinkName;
     EXPECT_TRUE(j4->ResolveParentLink(resolvedLinkName).empty());
@@ -908,8 +908,8 @@ TEST(DOMJoint, LoadJointNestedParentChild)
   {
     const sdf::Joint *j5 = model->JointByName("J5");
     ASSERT_NE(nullptr, j5);
-    EXPECT_EQ("L1", j5->ParentLinkName());
-    EXPECT_EQ("M1::M2", j5->ChildLinkName());
+    EXPECT_EQ("L1", j5->ParentName());
+    EXPECT_EQ("M1::M2", j5->ChildName());
 
     std::string resolvedLinkName;
     EXPECT_TRUE(j5->ResolveParentLink(resolvedLinkName).empty());
@@ -924,8 +924,8 @@ TEST(DOMJoint, LoadJointNestedParentChild)
   {
     const sdf::Joint *j6 = model->JointByName("J6");
     ASSERT_NE(nullptr, j6);
-    EXPECT_EQ("M1::__model__", j6->ParentLinkName());
-    EXPECT_EQ("L1", j6->ChildLinkName());
+    EXPECT_EQ("M1::__model__", j6->ParentName());
+    EXPECT_EQ("L1", j6->ChildName());
 
     std::string resolvedLinkName;
     EXPECT_TRUE(j6->ResolveParentLink(resolvedLinkName).empty());
@@ -940,8 +940,8 @@ TEST(DOMJoint, LoadJointNestedParentChild)
   {
     const sdf::Joint *j7 = model->JointByName("J7");
     ASSERT_NE(nullptr, j7);
-    EXPECT_EQ("L1", j7->ParentLinkName());
-    EXPECT_EQ("M1::__model__", j7->ChildLinkName());
+    EXPECT_EQ("L1", j7->ParentName());
+    EXPECT_EQ("M1::__model__", j7->ChildName());
 
     std::string resolvedLinkName;
     EXPECT_TRUE(j7->ResolveParentLink(resolvedLinkName).empty());
diff --git a/test/integration/sdf_dom_conversion.cc b/test/integration/sdf_dom_conversion.cc
index 5481ce6f6..ea79ea3fa 100644
--- a/test/integration/sdf_dom_conversion.cc
+++ b/test/integration/sdf_dom_conversion.cc
@@ -568,8 +568,8 @@ TEST(SDFDomConversion, Joints)
   EXPECT_EQ("joint", joint->Name());
   EXPECT_EQ(1u, joint->SensorCount());
 
-  EXPECT_EQ("link1", joint->ParentLinkName());
-  EXPECT_EQ("link2", joint->ChildLinkName());
+  EXPECT_EQ("link1", joint->ParentName());
+  EXPECT_EQ("link2", joint->ChildName());
   EXPECT_EQ(sdf::JointType::FIXED, joint->Type());
 
   // Get the force_torque sensor
diff --git a/test/sdf/inertial_stats.sdf b/test/sdf/inertial_stats.sdf
index d8d6df8a7..e2504807f 100644
--- a/test/sdf/inertial_stats.sdf
+++ b/test/sdf/inertial_stats.sdf
@@ -2,7 +2,7 @@
 <!---
 Model consists of 4 cubes places symmetrically
 in the XY plane. This model is used to verify the
-"ign sdf --inertial-stats" tool .
+"gz sdf --inertial-stats" tool .
             +y
             │
           ┌─┼─┐
diff --git a/usd/src/sdf_parser/Joint.cc b/usd/src/sdf_parser/Joint.cc
index f8b878ef2..093d83d3a 100644
--- a/usd/src/sdf_parser/Joint.cc
+++ b/usd/src/sdf_parser/Joint.cc
@@ -71,7 +71,7 @@ namespace usd
     UsdErrors errors;
 
     gz::math::Pose3d parentToJoint;
-    if (_joint.ParentLinkName() == "world")
+    if (_joint.ParentName() == "world")
     {
       gz::math::Pose3d modelToJoint;
       auto poseErrors = usd::PoseWrtParent(_joint, modelToJoint);
@@ -90,13 +90,13 @@ namespace usd
     else
     {
       auto poseResolutionErrors =
-        _joint.SemanticPose().Resolve(parentToJoint, _joint.ParentLinkName());
+        _joint.SemanticPose().Resolve(parentToJoint, _joint.ParentName());
       if (!poseResolutionErrors.empty())
       {
         errors.push_back(UsdError(
               sdf::Error(sdf::ErrorCode::POSE_RELATIVE_TO_INVALID,
               "Unable to get the pose of joint [" + _joint.Name() +
-              "] w.r.t. its parent link [" + _joint.ParentLinkName() + "].")));
+              "] w.r.t. its parent link [" + _joint.ParentName() + "].")));
         for (const auto &e : poseResolutionErrors)
           errors.push_back(UsdError(e));
         return errors;
@@ -105,13 +105,13 @@ namespace usd
 
     gz::math::Pose3d childToJoint;
     auto poseResolutionErrors = _joint.SemanticPose().Resolve(childToJoint,
-        _joint.ChildLinkName());
+        _joint.ChildName());
     if (!poseResolutionErrors.empty())
     {
       errors.push_back(UsdError(
           sdf::Error(sdf::ErrorCode::POSE_RELATIVE_TO_INVALID,
             "Unable to get the pose of joint [" + _joint.Name() +
-            "] w.r.t. its child [" + _joint.ChildLinkName() + "].")));
+            "] w.r.t. its child [" + _joint.ChildName() + "].")));
       for (const auto &e : poseResolutionErrors)
         errors.push_back(UsdError(e));
       return errors;
@@ -318,24 +318,24 @@ namespace usd
     // the joint's parent may be "world". If this is the case, the joint's
     // parent should be set to the world prim, not a link
     auto parentLinkPath = _worldPath;
-    if (_joint.ParentLinkName() != "world")
+    if (_joint.ParentName() != "world")
     {
-      const auto it = _linkToUsdPath.find(_joint.ParentLinkName());
+      const auto it = _linkToUsdPath.find(_joint.ParentName());
       if (it == _linkToUsdPath.end())
       {
         errors.push_back(UsdError(sdf::usd::UsdErrorCode::INVALID_PRIM_PATH,
-              "Unable to find a USD path for link [" + _joint.ParentLinkName() +
+              "Unable to find a USD path for link [" + _joint.ParentName() +
               "], which is the parent link of joint [" + _joint.Name() + "]."));
         return errors;
       }
       parentLinkPath = it->second;
     }
 
-    const auto it = _linkToUsdPath.find(_joint.ChildLinkName());
+    const auto it = _linkToUsdPath.find(_joint.ChildName());
     if (it == _linkToUsdPath.end())
     {
       errors.push_back(UsdError(sdf::usd::UsdErrorCode::INVALID_PRIM_PATH,
-            "Unable to find a USD path for link [" + _joint.ParentLinkName() +
+            "Unable to find a USD path for link [" + _joint.ParentName() +
             "], which is the child link of joint [" + _joint.Name() + "]."));
       return errors;
     }
diff --git a/usd/src/sdf_parser/Joint_Sdf2Usd_TEST.cc b/usd/src/sdf_parser/Joint_Sdf2Usd_TEST.cc
index 54eb3784e..cc5f8a5c9 100644
--- a/usd/src/sdf_parser/Joint_Sdf2Usd_TEST.cc
+++ b/usd/src/sdf_parser/Joint_Sdf2Usd_TEST.cc
@@ -274,19 +274,19 @@ TEST_F(UsdJointStageFixture, RevoluteJoints)
 
     // make sure joint is pointing to the proper parent/child links
     this->CheckParentLinkPath(&usdRevoluteJoint,
-        this->modelPath + "/" + sdfJoint->ParentLinkName());
+        this->modelPath + "/" + sdfJoint->ParentName());
     this->CheckChildLinkPath(&usdRevoluteJoint,
-        this->modelPath + "/" + sdfJoint->ChildLinkName());
+        this->modelPath + "/" + sdfJoint->ChildName());
 
     // check joint's pose w.r.t. parent and child links
     gz::math::Pose3d parentToJointPose;
     auto poseErrors = sdfJoint->SemanticPose().Resolve(parentToJointPose,
-          sdfJoint->ParentLinkName());
+          sdfJoint->ParentName());
     EXPECT_TRUE(poseErrors.empty());
     poseErrors.clear();
     gz::math::Pose3d childToJointPose;
     poseErrors = sdfJoint->SemanticPose().Resolve(childToJointPose,
-          sdfJoint->ChildLinkName());
+          sdfJoint->ChildName());
     EXPECT_TRUE(poseErrors.empty());
     this->CheckRelativeLinkPoses(&usdRevoluteJoint, parentToJointPose,
         childToJointPose);
@@ -368,7 +368,7 @@ TEST_F(UsdJointStageFixture, JointParentIsWorld)
     // The parent in this test should be the world
     this->CheckParentLinkPath(&usdFixedJoint, this->worldPath.GetString());
     this->CheckChildLinkPath(&usdFixedJoint,
-        this->modelPath + "/" + sdfJoint->ChildLinkName());
+        this->modelPath + "/" + sdfJoint->ChildName());
 
     // check joint's pose w.r.t. parent and child links. For this test case,
     // we need to get the joint pose w.r.t. the world
@@ -383,7 +383,7 @@ TEST_F(UsdJointStageFixture, JointParentIsWorld)
     poseErrors.clear();
     gz::math::Pose3d childToJointPose;
     poseErrors = sdfJoint->SemanticPose().Resolve(childToJointPose,
-          sdfJoint->ChildLinkName());
+          sdfJoint->ChildName());
     EXPECT_TRUE(poseErrors.empty());
     this->CheckRelativeLinkPoses(&usdFixedJoint, worldToJointPose,
         childToJointPose);
@@ -449,19 +449,19 @@ TEST_F(UsdJointStageFixture, BallPrismaticJoint)
 
     // make sure joint is pointing to the proper parent/child links
     this->CheckParentLinkPath(&usdJoint,
-        this->modelPath + "/" + sdfJoint->ParentLinkName());
+        this->modelPath + "/" + sdfJoint->ParentName());
     this->CheckChildLinkPath(&usdJoint,
-        this->modelPath + "/" + sdfJoint->ChildLinkName());
+        this->modelPath + "/" + sdfJoint->ChildName());
 
     // check joint's pose w.r.t. parent and child links
     gz::math::Pose3d parentToJointPose;
     auto poseErrors = sdfJoint->SemanticPose().Resolve(parentToJointPose,
-          sdfJoint->ParentLinkName());
+          sdfJoint->ParentName());
     EXPECT_TRUE(poseErrors.empty());
     poseErrors.clear();
     gz::math::Pose3d childToJointPose;
     poseErrors = sdfJoint->SemanticPose().Resolve(childToJointPose,
-          sdfJoint->ChildLinkName());
+          sdfJoint->ChildName());
     EXPECT_TRUE(poseErrors.empty());
     this->CheckRelativeLinkPoses(&usdJoint, parentToJointPose,
         childToJointPose);
diff --git a/usd/src/usd_parser/USDJoints.cc b/usd/src/usd_parser/USDJoints.cc
index 0de4720a3..0fa5ae465 100644
--- a/usd/src/usd_parser/USDJoints.cc
+++ b/usd/src/usd_parser/USDJoints.cc
@@ -66,24 +66,24 @@ namespace sdf
 
       if (body1.size() > 0)
       {
-        _joint.SetChildLinkName(gz::common::basename(
+        _joint.SetChildName(gz::common::basename(
           body1[0].GetString()));
       }
       else if (body0.size() > 0)
       {
-        _joint.SetParentLinkName("world");
-        _joint.SetChildLinkName(gz::common::basename(
+        _joint.SetParentName("world");
+        _joint.SetChildName(gz::common::basename(
           body0[0].GetString()));
       }
 
-      if (body0.size() > 0 && _joint.ParentLinkName().empty())
+      if (body0.size() > 0 && _joint.ParentName().empty())
       {
-        _joint.SetParentLinkName(gz::common::basename(
+        _joint.SetParentName(gz::common::basename(
           body0[0].GetString()));
       }
       else
       {
-        _joint.SetParentLinkName("world");
+        _joint.SetParentName("world");
       }
 
       std::string primName = _prim.GetName();
@@ -112,7 +112,7 @@ namespace sdf
       if (_prim.IsA<pxr::UsdPhysicsPrismaticJoint>() ||
           _prim.IsA<pxr::UsdPhysicsRevoluteJoint>())
       {
-        _joint.SetPoseRelativeTo(_joint.ParentLinkName());
+        _joint.SetPoseRelativeTo(_joint.ParentName());
 
         pxr::TfToken axis;
         if (_prim.IsA<pxr::UsdPhysicsPrismaticJoint>())
diff --git a/usd/src/usd_parser/USDJoints_TEST.cc b/usd/src/usd_parser/USDJoints_TEST.cc
index aa4499a10..a029aaea6 100644
--- a/usd/src/usd_parser/USDJoints_TEST.cc
+++ b/usd/src/usd_parser/USDJoints_TEST.cc
@@ -61,8 +61,8 @@ TEST(USDJointTest, JointTest)
   EXPECT_EQ(0u, errors.size());
   EXPECT_EQ(sdf::JointType::REVOLUTE, joint1.Type());
   EXPECT_EQ("upper_joint", joint1.Name());
-  EXPECT_EQ("upper_link", joint1.ChildLinkName());
-  EXPECT_EQ("base", joint1.ParentLinkName());
+  EXPECT_EQ("upper_link", joint1.ChildName());
+  EXPECT_EQ("base", joint1.ParentName());
   EXPECT_EQ(gz::math::Pose3d(0, 0, 0.021, -1.5708, 0, 0),
             joint1.RawPose());
 
@@ -81,8 +81,8 @@ TEST(USDJointTest, JointTest)
   EXPECT_EQ(0u, errors.size());
   EXPECT_EQ(sdf::JointType::REVOLUTE, joint2.Type());
   EXPECT_EQ("lower_joint", joint2.Name());
-  EXPECT_EQ("lower_link", joint2.ChildLinkName());
-  EXPECT_EQ("upper_link", joint2.ParentLinkName());
+  EXPECT_EQ("lower_link", joint2.ChildName());
+  EXPECT_EQ("upper_link", joint2.ParentName());
   EXPECT_EQ(gz::math::Pose3d(0.0025, -0, 0.01, -0.4292, 0, 0),
             joint2.RawPose());
   axis = joint2.Axis(0);