diff --git a/dartsim/src/JointFeatures_TEST.cc b/dartsim/src/JointFeatures_TEST.cc
index a834d088a..be293c7f7 100644
--- a/dartsim/src/JointFeatures_TEST.cc
+++ b/dartsim/src/JointFeatures_TEST.cc
@@ -49,7 +49,7 @@
 
 using namespace ignition;
 
-using TestFeatureList = ignition::physics::FeatureList<
+using TestFeatureList = physics::FeatureList<
   physics::dartsim::RetrieveWorld,
   physics::AttachFixedJointFeature,
   physics::DetachJointFeature,
@@ -74,14 +74,14 @@ class JointFeaturesFixture : public ::testing::Test
 {
   protected: void SetUp() override
   {
-    ignition::plugin::Loader loader;
+    plugin::Loader loader;
     loader.LoadLib(dartsim_plugin_LIB);
 
-    ignition::plugin::PluginPtr dartsim =
+    plugin::PluginPtr dartsim =
         loader.Instantiate("ignition::physics::dartsim::Plugin");
 
     this->engine =
-        ignition::physics::RequestEngine3d<TestFeatureList>::From(dartsim);
+        physics::RequestEngine3d<TestFeatureList>::From(dartsim);
     ASSERT_NE(nullptr, this->engine);
   }
   protected: TestEnginePtr engine;
diff --git a/dartsim/src/KinematicsFeatures_TEST.cc b/dartsim/src/KinematicsFeatures_TEST.cc
index 55b2e8f7e..dde7505a0 100644
--- a/dartsim/src/KinematicsFeatures_TEST.cc
+++ b/dartsim/src/KinematicsFeatures_TEST.cc
@@ -42,7 +42,7 @@
 
 using namespace ignition;
 
-using TestFeatureList = ignition::physics::FeatureList<
+using TestFeatureList = physics::FeatureList<
   physics::ForwardStep,
   physics::GetEntities,
   physics::JointFrameSemantics,
@@ -57,14 +57,14 @@ class KinematicsFeaturesFixture : public ::testing::Test
 {
   protected: void SetUp() override
   {
-    ignition::plugin::Loader loader;
+    plugin::Loader loader;
     loader.LoadLib(dartsim_plugin_LIB);
 
-    ignition::plugin::PluginPtr dartsim =
+    plugin::PluginPtr dartsim =
         loader.Instantiate("ignition::physics::dartsim::Plugin");
 
     this->engine =
-        ignition::physics::RequestEngine3d<TestFeatureList>::From(dartsim);
+        physics::RequestEngine3d<TestFeatureList>::From(dartsim);
     ASSERT_NE(nullptr, this->engine);
   }
   protected: TestEnginePtr engine;
diff --git a/dartsim/src/LinkFeatures_TEST.cc b/dartsim/src/LinkFeatures_TEST.cc
index b66e8626f..f1efc8646 100644
--- a/dartsim/src/LinkFeatures_TEST.cc
+++ b/dartsim/src/LinkFeatures_TEST.cc
@@ -59,14 +59,14 @@ class LinkFeaturesFixture : public ::testing::Test
 {
   protected: void SetUp() override
   {
-    ignition::plugin::Loader loader;
+    plugin::Loader loader;
     loader.LoadLib(dartsim_plugin_LIB);
 
-    ignition::plugin::PluginPtr dartsim =
+    plugin::PluginPtr dartsim =
         loader.Instantiate("ignition::physics::dartsim::Plugin");
 
     this->engine =
-        ignition::physics::RequestEngine3d<TestFeatureList>::From(dartsim);
+        physics::RequestEngine3d<TestFeatureList>::From(dartsim);
     ASSERT_NE(nullptr, this->engine);
   }
   protected: TestEnginePtr engine;
@@ -102,7 +102,7 @@ class AssertVectorApprox
               const char *_mExpr, const char *_nExpr, Eigen::Vector3d _m,
               Eigen::Vector3d _n)
   {
-    if (ignition::physics::test::Equal(_m, _n, this->tol))
+    if (physics::test::Equal(_m, _n, this->tol))
       return ::testing::AssertionSuccess();
 
     return ::testing::AssertionFailure()
@@ -134,9 +134,9 @@ TEST_F(LinkFeaturesFixture, LinkForceTorque)
   linkSDF.SetInertial({massMatrix, math::Pose3d::Zero});
   auto link = model->ConstructLink(linkSDF);
 
-  ignition::physics::ForwardStep::Input input;
-  ignition::physics::ForwardStep::State state;
-  ignition::physics::ForwardStep::Output output;
+  physics::ForwardStep::Input input;
+  physics::ForwardStep::State state;
+  physics::ForwardStep::Output output;
 
   AssertVectorApprox vectorPredicate(1e-4);
 
diff --git a/dartsim/src/ShapeFeatures_TEST.cc b/dartsim/src/ShapeFeatures_TEST.cc
index 951bb7d1b..f889b6417 100644
--- a/dartsim/src/ShapeFeatures_TEST.cc
+++ b/dartsim/src/ShapeFeatures_TEST.cc
@@ -56,7 +56,7 @@
 
 using namespace ignition;
 
-using TestFeatureList = ignition::physics::FeatureList<
+using TestFeatureList = physics::FeatureList<
   physics::dartsim::RetrieveWorld,
   physics::AttachFixedJointFeature,
   physics::AddLinkExternalForceTorque,
@@ -85,14 +85,14 @@ class ShapeFeaturesFixture : public ::testing::Test
 {
   protected: void SetUp() override
   {
-    ignition::plugin::Loader loader;
+    plugin::Loader loader;
     loader.LoadLib(dartsim_plugin_LIB);
 
-    ignition::plugin::PluginPtr dartsim =
+    plugin::PluginPtr dartsim =
         loader.Instantiate("ignition::physics::dartsim::Plugin");
 
     this->engine =
-        ignition::physics::RequestEngine3d<TestFeatureList>::From(dartsim);
+        physics::RequestEngine3d<TestFeatureList>::From(dartsim);
     ASSERT_NE(nullptr, this->engine);
   }
   protected: TestEnginePtr engine;
@@ -128,7 +128,7 @@ class AssertVectorApprox
               const char *_mExpr, const char *_nExpr, Eigen::Vector3d _m,
               Eigen::Vector3d _n)
   {
-    if (ignition::physics::test::Equal(_m, _n, this->tol))
+    if (physics::test::Equal(_m, _n, this->tol))
       return ::testing::AssertionSuccess();
 
     return ::testing::AssertionFailure()
@@ -160,9 +160,9 @@ TEST_F(ShapeFeaturesFixture, PrimarySlipCompliance)
 
   AssertVectorApprox vectorPredicate(1e-4);
 
-  ignition::physics::ForwardStep::Input input;
-  ignition::physics::ForwardStep::State state;
-  ignition::physics::ForwardStep::Output output;
+  physics::ForwardStep::Input input;
+  physics::ForwardStep::State state;
+  physics::ForwardStep::Output output;
 
   // Check that link is at rest
   {
@@ -223,9 +223,9 @@ TEST_F(ShapeFeaturesFixture, SecondarySlipCompliance)
 
   AssertVectorApprox vectorPredicate(1e-4);
 
-  ignition::physics::ForwardStep::Input input;
-  ignition::physics::ForwardStep::State state;
-  ignition::physics::ForwardStep::Output output;
+  physics::ForwardStep::Input input;
+  physics::ForwardStep::State state;
+  physics::ForwardStep::Output output;
 
   // Check that link is at rest
   {
diff --git a/src/FeatureList_TEST.cc b/src/FeatureList_TEST.cc
index ce3ddc78c..0ba5f9bf3 100644
--- a/src/FeatureList_TEST.cc
+++ b/src/FeatureList_TEST.cc
@@ -218,7 +218,7 @@ TEST(FeatureList_TEST, ConflictsAndRequirements)
 
   // This is a regression test. We need to make sure that this FeatureList
   // compiles.
-  ignition::physics::FeatureList<OnlyConflictWith1, TestRequiresFeatureA>();
+  FeatureList<OnlyConflictWith1, TestRequiresFeatureA>();
 }
 
 TEST(FeatureList_TEST, Hierarchy)
diff --git a/test/integration/DoublePendulum.cc b/test/integration/DoublePendulum.cc
index acc1b5214..d4c092709 100644
--- a/test/integration/DoublePendulum.cc
+++ b/test/integration/DoublePendulum.cc
@@ -59,17 +59,17 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
 
   auto world = engine->GetWorld(0);
 
-  ignition::physics::ForwardStep::State state;
-  ignition::physics::ForwardStep::Output output;
-  ignition::physics::ForwardStep::Input input;
+  ForwardStep::State state;
+  ForwardStep::Output output;
+  ForwardStep::Input input;
 
   const std::chrono::duration<double> dt(std::chrono::milliseconds(1));
-  ignition::physics::TimeStep &timeStep =
-      input.Get<ignition::physics::TimeStep>();
+  TimeStep &timeStep =
+      input.Get<TimeStep>();
   timeStep.dt = dt.count();
 
-  ignition::physics::GeneralizedParameters &efforts =
-      input.Get<ignition::physics::GeneralizedParameters>();
+  GeneralizedParameters &efforts =
+      input.Get<GeneralizedParameters>();
   efforts.dofs.push_back(0);
   efforts.dofs.push_back(1);
   efforts.forces.push_back(0.0);
@@ -78,11 +78,11 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
   // No input on the first step, let's just see the output
   world->Step(output, state, input);
 
-  ASSERT_TRUE(output.Has<ignition::physics::JointPositions>());
-  const auto positions0 = output.Get<ignition::physics::JointPositions>();
+  ASSERT_TRUE(output.Has<JointPositions>());
+  const auto positions0 = output.Get<JointPositions>();
 
-  ASSERT_TRUE(output.Has<ignition::physics::WorldPoses>());
-  const auto poses0 = output.Get<ignition::physics::WorldPoses>();
+  ASSERT_TRUE(output.Has<WorldPoses>());
+  const auto poses0 = output.Get<WorldPoses>();
 
   // the double pendulum is initially fully inverted
   // and angles are defined as zero in this state
@@ -116,7 +116,7 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
   unsigned int settleSteps = settleTime / dt;
   for (unsigned int i = 0; i < settleSteps; ++i)
   {
-    auto positions = output.Get<ignition::physics::JointPositions>();
+    auto positions = output.Get<JointPositions>();
     double error0 = positions.positions[positions.dofs[0]] - target10;
     double error1 = positions.positions[positions.dofs[1]] - target11;
 
@@ -127,15 +127,15 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
   }
 
   // expect joints are near target positions
-  ASSERT_TRUE(output.Has<ignition::physics::JointPositions>());
-  auto positions1 = output.Get<ignition::physics::JointPositions>();
+  ASSERT_TRUE(output.Has<JointPositions>());
+  auto positions1 = output.Get<JointPositions>();
   double angle10 = positions1.positions[positions1.dofs[0]];
   double angle11 = positions1.positions[positions1.dofs[1]];
   EXPECT_NEAR(target10, angle10, 1e-5);
   EXPECT_NEAR(target11, angle11, 1e-3);
 
-  ASSERT_TRUE(output.Has<ignition::physics::WorldPoses>());
-  const auto poses1 = output.Get<ignition::physics::WorldPoses>();
+  ASSERT_TRUE(output.Has<WorldPoses>());
+  const auto poses1 = output.Get<WorldPoses>();
   ASSERT_EQ(2u, poses1.entries.size());
   for (const auto & worldPose : poses1.entries)
   {
@@ -151,7 +151,7 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
   }
 
   // test recording the state and repeatability
-  ignition::physics::ForwardStep::State bookmark = state;
+  ForwardStep::State bookmark = state;
   std::vector<double> errorHistory0;
   std::vector<double> errorHistory1;
 
@@ -168,7 +168,7 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
 
   for (unsigned int i = 0; i < settleSteps; ++i)
   {
-    auto positions = output.Get<ignition::physics::JointPositions>();
+    auto positions = output.Get<JointPositions>();
     double error0 = positions.positions[positions.dofs[0]] - target20;
     double error1 = positions.positions[positions.dofs[1]] - target21;
     errorHistory0.push_back(error0);
@@ -181,16 +181,16 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
   }
 
   // expect joints are near target positions again
-  ASSERT_TRUE(output.Has<ignition::physics::JointPositions>());
-  auto positions2 = output.Get<ignition::physics::JointPositions>();
+  ASSERT_TRUE(output.Has<JointPositions>());
+  auto positions2 = output.Get<JointPositions>();
   double angle20 = positions2.positions[positions2.dofs[0]];
   double angle21 = positions2.positions[positions2.dofs[1]];
   EXPECT_NEAR(target20, angle20, 1e-4);
   EXPECT_NEAR(target21, angle21, 1e-3);
 
   // // Go back to the bookmarked state and run through the steps again.
-  // ignition::physics::SetState *setState =
-  //     _plugin->QueryInterface<ignition::physics::SetState>();
+  // SetState *setState =
+  //     _plugin->QueryInterface<SetState>();
   // ASSERT_TRUE(setState);
   // setState->SetStateTo(bookmark);
 
@@ -205,7 +205,7 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
 
   // for (unsigned int i = 0; i < settleSteps; ++i)
   // {
-  //   auto positions = output.Get<ignition::physics::JointPositions>();
+  //   auto positions = output.Get<JointPositions>();
   //   double error0 = positions.positions[positions.dofs[0]] - target20;
   //   double error1 = positions.positions[positions.dofs[1]] - target21;
   //   EXPECT_DOUBLE_EQ(error0, errorHistory0[i]);
@@ -218,8 +218,8 @@ void DoublePendulum_TEST(ignition::plugin::PluginPtr _plugin)
   // }
 
   // // expect joints are near target positions again
-  // ASSERT_TRUE(output.Has<ignition::physics::JointPositions>());
-  // auto positions3 = output.Get<ignition::physics::JointPositions>();
+  // ASSERT_TRUE(output.Has<JointPositions>());
+  // auto positions3 = output.Get<JointPositions>();
   // double angle30 = positions3.positions[positions3.dofs[0]];
   // double angle31 = positions3.positions[positions3.dofs[1]];
   // EXPECT_DOUBLE_EQ(angle20, angle30);
diff --git a/test/integration/FeatureSystem.cc b/test/integration/FeatureSystem.cc
index b50e81e95..c9c96bf5e 100644
--- a/test/integration/FeatureSystem.cc
+++ b/test/integration/FeatureSystem.cc
@@ -43,7 +43,7 @@ TEST(FeatureSystem, MockPluginInvalidFeatures)
 {
   // mismatch between 2d and 3d
   mock::MockEngine3dPtr engine =
-      ignition::physics::RequestEngine3d<mock::MockFeatureList>::From(
+      RequestEngine3d<mock::MockFeatureList>::From(
          LoadMockPlugin("mock::EntitiesPlugin2d"));
   EXPECT_EQ(nullptr, engine);
 }
@@ -52,7 +52,7 @@ TEST(FeatureSystem, MockPluginInvalidFeatures)
 TEST(FeatureSystem, MockPlugin)
 {
   mock::MockEngine3dPtr engine =
-      ignition::physics::RequestEngine3d<mock::MockFeatureList>::From(
+      RequestEngine3d<mock::MockFeatureList>::From(
          LoadMockPlugin("mock::EntitiesPlugin3d"));
 
   EXPECT_EQ("Only one engine", engine->Name());
@@ -116,7 +116,7 @@ TEST(FeatureSystem, MockPlugin)
 TEST(FeatureSystem, MockCenterOfMass3d)
 {
   mock::MockEngine3dPtr engine =
-      ignition::physics::RequestEngine3d<mock::MockFeatureList>::From(
+      RequestEngine3d<mock::MockFeatureList>::From(
         LoadMockPlugin("mock::EntitiesPlugin3d"));
 
   mock::MockWorld3dPtr world = engine->GetWorld("Some world");
@@ -166,7 +166,7 @@ TEST(FeatureSystem, MockCenterOfMass3d)
 TEST(FeatureSystem, MockCenterOfMass2d)
 {
   mock::MockEngine2dPtr engine =
-      ignition::physics::RequestEngine2d<mock::MockFeatureList>::From(
+      RequestEngine2d<mock::MockFeatureList>::From(
         LoadMockPlugin("mock::EntitiesPlugin2d"));
 
   mock::MockWorld2dPtr world = engine->GetWorld("Some world");
diff --git a/tpe/lib/src/CollisionDetector_TEST.cc b/tpe/lib/src/CollisionDetector_TEST.cc
index 895fa6f90..caa00da46 100644
--- a/tpe/lib/src/CollisionDetector_TEST.cc
+++ b/tpe/lib/src/CollisionDetector_TEST.cc
@@ -89,7 +89,7 @@ TEST(CollisionDetector, CheckCollisions)
   Entity &collisionAEnt = linkA->AddCollision();
   Collision *collisionA = static_cast<Collision *>(&collisionAEnt);
   BoxShape boxShapeA;
-  boxShapeA.SetSize(ignition::math::Vector3d(4, 4, 4));
+  boxShapeA.SetSize(math::Vector3d(4, 4, 4));
   collisionA->SetShape(boxShapeA);
 
   // model B
@@ -255,7 +255,7 @@ TEST(CollisionDetector, CheckStaticCollisionFiltering)
   Entity &collisionAEnt = linkA->AddCollision();
   Collision *collisionA = static_cast<Collision *>(&collisionAEnt);
   BoxShape boxShapeA;
-  boxShapeA.SetSize(ignition::math::Vector3d(4, 4, 4));
+  boxShapeA.SetSize(math::Vector3d(4, 4, 4));
   collisionA->SetShape(boxShapeA);
 
   // model B
@@ -266,7 +266,7 @@ TEST(CollisionDetector, CheckStaticCollisionFiltering)
   Entity &collisionBEnt = linkB->AddCollision();
   Collision *collisionB = static_cast<Collision *>(&collisionBEnt);
   BoxShape boxShapeB;
-  boxShapeB.SetSize(ignition::math::Vector3d(4, 4, 4));
+  boxShapeB.SetSize(math::Vector3d(4, 4, 4));
   collisionB->SetShape(boxShapeB);
 
   // check collisions
diff --git a/tpe/lib/src/Collision_TEST.cc b/tpe/lib/src/Collision_TEST.cc
index d1bc6d1fa..8012500f0 100644
--- a/tpe/lib/src/Collision_TEST.cc
+++ b/tpe/lib/src/Collision_TEST.cc
@@ -60,11 +60,11 @@ TEST(Collision, BoxShape)
 {
   Collision collision;
   BoxShape boxShape;
-  boxShape.SetSize(ignition::math::Vector3d(0.5, 0.5, 0.5));
+  boxShape.SetSize(math::Vector3d(0.5, 0.5, 0.5));
   collision.SetShape(boxShape);
   auto result = collision.GetShape();
   ASSERT_NE(nullptr, result);
-  EXPECT_EQ(ignition::math::Vector3d(0.25, 0.25, 0.25),
+  EXPECT_EQ(math::Vector3d(0.25, 0.25, 0.25),
       result->GetBoundingBox().Max());
 }
 
@@ -78,7 +78,7 @@ TEST(Collision, CylinderShape)
   collision.SetShape(cylinderShape);
   auto result = collision.GetShape();
   ASSERT_NE(nullptr, result);
-  EXPECT_EQ(ignition::math::Vector3d(2.0, 2.0, 1.5),
+  EXPECT_EQ(math::Vector3d(2.0, 2.0, 1.5),
       result->GetBoundingBox().Max());
 }
 
@@ -91,7 +91,7 @@ TEST(Collision, SphereShape)
   collision.SetShape(sphereShape);
   auto result = collision.GetShape();
   ASSERT_NE(nullptr, result);
-  EXPECT_EQ(ignition::math::Vector3d(2.0, 2.0, 2.0),
+  EXPECT_EQ(math::Vector3d(2.0, 2.0, 2.0),
       result->GetBoundingBox().Max());
 }
 
diff --git a/tpe/plugin/src/ShapeFeatures.cc b/tpe/plugin/src/ShapeFeatures.cc
index 2fd585ad1..5f0f47965 100644
--- a/tpe/plugin/src/ShapeFeatures.cc
+++ b/tpe/plugin/src/ShapeFeatures.cc
@@ -268,7 +268,7 @@ LinearVector3d ShapeFeatures::GetMeshShapeScale(
 Identity ShapeFeatures::AttachMeshShape(
   const Identity &_linkID,
   const std::string &_name,
-  const ignition::common::Mesh &_mesh,
+  const common::Mesh &_mesh,
   const Pose3d &_pose,
   const LinearVector3d &_scale)
 {