diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 15fd1be29c..6d32e68367 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -4,7 +4,6 @@ on:
   pull_request:
   push:
     branches:
-      - 'gz-sim8'
       - 'main'
 
 # Every time you make a push to your PR, it cancel immediately the previous checks,
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8157799113..4b662b78b4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim8 VERSION 8.0.0)
-set (GZ_DISTRIBUTION "Harmonic")
+project(gz-sim9 VERSION 9.0.0)
+set (GZ_DISTRIBUTION "Ionic")
 
 #============================================================================
 # Find gz-cmake
diff --git a/Changelog.md b/Changelog.md
index 4d7d22df7a..2da7d20b94 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,3 +1,7 @@
+## Gazebo Sim 9.x
+
+### Gazebo Sim 9.0.0 (2024-XX-XX)
+
 ## Gazebo Sim 8.x
 
 ### Gazebo Sim 8.0.0 (2023-09-29)
diff --git a/README.md b/README.md
index f12f19f841..8c4a8c9f63 100644
--- a/README.md
+++ b/README.md
@@ -78,7 +78,7 @@ introspection and control.
 
 # Install
 
-See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html).
+See the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).
 
 # Usage
 
@@ -125,11 +125,11 @@ This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).
 
 # Documentation
 
-See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html).
+See the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).
 
 # Testing
 
-See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html).
+See the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).
 
 See the [Writing Tests section of the contributor guide](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md#writing-tests) for help creating or modifying tests.
 
diff --git a/examples/plugin/command_actor/CMakeLists.txt b/examples/plugin/command_actor/CMakeLists.txt
index a01caa9607..e73b0d74c1 100644
--- a/examples/plugin/command_actor/CMakeLists.txt
+++ b/examples/plugin/command_actor/CMakeLists.txt
@@ -7,9 +7,9 @@ project(CommandActor)
 find_package(gz-plugin2 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-find_package(gz-sim8 REQUIRED)
+find_package(gz-sim9 REQUIRED)
 add_library(CommandActor SHARED CommandActor.cc)
 set_property(TARGET CommandActor PROPERTY CXX_STANDARD 17)
 target_link_libraries(CommandActor
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim8::gz-sim8)
+  PRIVATE gz-sim9::gz-sim9)
diff --git a/examples/plugin/custom_component/CMakeLists.txt b/examples/plugin/custom_component/CMakeLists.txt
index d7f6a23ae6..912ba8b1c1 100644
--- a/examples/plugin/custom_component/CMakeLists.txt
+++ b/examples/plugin/custom_component/CMakeLists.txt
@@ -7,11 +7,11 @@ project(CustomComponentPlugin)
 find_package(gz-plugin2 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-find_package(gz-sim8 REQUIRED)
+find_package(gz-sim9 REQUIRED)
 add_library(CustomComponentPlugin SHARED
   CustomComponentPlugin.cc
 )
 set_property(TARGET CustomComponentPlugin PROPERTY CXX_STANDARD 17)
 target_link_libraries(CustomComponentPlugin
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim8::gz-sim8)
+  PRIVATE gz-sim9::gz-sim9)
diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
index 66ceb25192..128253a38f 100644
--- a/examples/plugin/custom_sensor_system/CMakeLists.txt
+++ b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -7,8 +7,8 @@ project(OdometerSystem)
 gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-gz_find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+gz_find_package(gz-sim9 REQUIRED)
+set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
 find_package(gz-sensors8 REQUIRED)
 set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
@@ -20,7 +20,7 @@ include(FetchContent)
 FetchContent_Declare(
   sensors_clone
   GIT_REPOSITORY https://github.com/gazebosim/gz-sensors
-  GIT_TAG main
+  GIT_TAG gz-sensors8
 )
 FetchContent_Populate(sensors_clone)
 add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_clone_BINARY_DIR})
diff --git a/examples/plugin/gui_system_plugin/CMakeLists.txt b/examples/plugin/gui_system_plugin/CMakeLists.txt
index 3a682f11ff..53ba9dc4ce 100644
--- a/examples/plugin/gui_system_plugin/CMakeLists.txt
+++ b/examples/plugin/gui_system_plugin/CMakeLists.txt
@@ -8,7 +8,7 @@ project(GuiSystemPlugin)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(gz-sim8 REQUIRED COMPONENTS gui)
+find_package(gz-sim9 REQUIRED COMPONENTS gui)
 
 QT5_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
 
@@ -17,5 +17,5 @@ add_library(${PROJECT_NAME} SHARED
   ${resources_RCC}
 )
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-sim8::gui
+  PRIVATE gz-sim9::gui
 )
diff --git a/examples/plugin/hello_world/CMakeLists.txt b/examples/plugin/hello_world/CMakeLists.txt
index 135d6288ce..0720a3ccd8 100644
--- a/examples/plugin/hello_world/CMakeLists.txt
+++ b/examples/plugin/hello_world/CMakeLists.txt
@@ -7,8 +7,8 @@ project(Hello_world)
 gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-gz_find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+gz_find_package(gz-sim9 REQUIRED)
+set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
 add_library(HelloWorld SHARED HelloWorld.cc)
 set_property(TARGET HelloWorld PROPERTY CXX_STANDARD 17)
diff --git a/examples/plugin/rendering_plugins/CMakeLists.txt b/examples/plugin/rendering_plugins/CMakeLists.txt
index 8668676cf0..0435e17633 100644
--- a/examples/plugin/rendering_plugins/CMakeLists.txt
+++ b/examples/plugin/rendering_plugins/CMakeLists.txt
@@ -32,13 +32,13 @@ target_link_libraries(${GUI_PLUGIN}
 set(SERVER_PLUGIN RenderingServerPlugin)
 
 find_package(gz-plugin2 REQUIRED COMPONENTS register)
-find_package(gz-sim8 REQUIRED)
+find_package(gz-sim9 REQUIRED)
 
 add_library(${SERVER_PLUGIN} SHARED ${SERVER_PLUGIN}.cc)
 set_property(TARGET ${SERVER_PLUGIN} PROPERTY CXX_STANDARD 17)
 target_link_libraries(${SERVER_PLUGIN}
   PRIVATE
     gz-plugin2::gz-plugin2
-    gz-sim8::gz-sim8
+    gz-sim9::gz-sim9
     gz-rendering8::gz-rendering8
 )
diff --git a/examples/plugin/reset_plugin/CMakeLists.txt b/examples/plugin/reset_plugin/CMakeLists.txt
index 824d84176a..3e1040aefe 100644
--- a/examples/plugin/reset_plugin/CMakeLists.txt
+++ b/examples/plugin/reset_plugin/CMakeLists.txt
@@ -5,8 +5,8 @@ project(ResetPlugins)
 find_package(gz-plugin2 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+find_package(gz-sim9 REQUIRED)
+set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
 add_library(JointPositionRandomizer SHARED JointPositionRandomizer.cc)
 target_link_libraries(JointPositionRandomizer
diff --git a/examples/plugin/system_plugin/CMakeLists.txt b/examples/plugin/system_plugin/CMakeLists.txt
index 0a0e5ba789..b887cf7708 100644
--- a/examples/plugin/system_plugin/CMakeLists.txt
+++ b/examples/plugin/system_plugin/CMakeLists.txt
@@ -7,9 +7,9 @@ project(SampleSystem)
 find_package(gz-plugin2 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-find_package(gz-sim8 REQUIRED)
+find_package(gz-sim9 REQUIRED)
 add_library(SampleSystem SHARED SampleSystem.cc SampleSystem2.cc)
 set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17)
 target_link_libraries(SampleSystem
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim8::gz-sim8)
+  PRIVATE gz-sim9::gz-sim9)
diff --git a/examples/scripts/python_api/systems/test_system.py b/examples/scripts/python_api/systems/test_system.py
index b5d03347b0..7dd34a2ce4 100644
--- a/examples/scripts/python_api/systems/test_system.py
+++ b/examples/scripts/python_api/systems/test_system.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from gz.math7 import Vector3d
-from gz.sim8 import Model, Link
+from gz.sim9 import Model, Link
 import random
 
 
diff --git a/examples/scripts/python_api/testFixture.py b/examples/scripts/python_api/testFixture.py
index 5be3afa6dc..363c040b4e 100755
--- a/examples/scripts/python_api/testFixture.py
+++ b/examples/scripts/python_api/testFixture.py
@@ -25,7 +25,7 @@
 import os
 
 from gz.common5 import set_verbosity
-from gz.sim8 import TestFixture, World, world_entity
+from gz.sim9 import TestFixture, World, world_entity
 from gz.math7 import Vector3d
 
 set_verbosity(4)
diff --git a/examples/standalone/acoustic_comms_demo/CMakeLists.txt b/examples/standalone/acoustic_comms_demo/CMakeLists.txt
index 2129e946e1..9beb0308f5 100644
--- a/examples/standalone/acoustic_comms_demo/CMakeLists.txt
+++ b/examples/standalone/acoustic_comms_demo/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-acoustic-comms-demo)
 find_package(gz-transport13 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 
-find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+find_package(gz-sim9 REQUIRED)
+set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
 add_executable(acoustic_comms_demo acoustic_comms_demo.cc)
 target_link_libraries(acoustic_comms_demo
diff --git a/examples/standalone/custom_server/CMakeLists.txt b/examples/standalone/custom_server/CMakeLists.txt
index cf1e917e89..0b29df1802 100644
--- a/examples/standalone/custom_server/CMakeLists.txt
+++ b/examples/standalone/custom_server/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(gz-sim-custom-server)
 
 if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
-  find_package(gz-sim8 REQUIRED)
-  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+  find_package(gz-sim9 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
   add_executable(custom_server custom_server.cc)
   target_link_libraries(custom_server
diff --git a/examples/standalone/each_performance/CMakeLists.txt b/examples/standalone/each_performance/CMakeLists.txt
index 6f756f12e5..fbcbf246df 100644
--- a/examples/standalone/each_performance/CMakeLists.txt
+++ b/examples/standalone/each_performance/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
 project(gz-sim-each-performance)
 
-find_package(gz-sim8 QUIET REQUIRED)
+find_package(gz-sim9 QUIET REQUIRED)
 
 add_executable(each each.cc)
 target_link_libraries(each
-  gz-sim8::core)
+  gz-sim9::core)
diff --git a/examples/standalone/external_ecm/CMakeLists.txt b/examples/standalone/external_ecm/CMakeLists.txt
index d06850d284..6dc89463d7 100644
--- a/examples/standalone/external_ecm/CMakeLists.txt
+++ b/examples/standalone/external_ecm/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
 project(gz-sim-external-ecm)
 
-find_package(gz-sim8 REQUIRED)
+find_package(gz-sim9 REQUIRED)
 
 add_executable(external_ecm external_ecm.cc)
 target_link_libraries(external_ecm
-  gz-sim8::core)
+  gz-sim9::core)
diff --git a/examples/standalone/gtest_setup/CMakeLists.txt b/examples/standalone/gtest_setup/CMakeLists.txt
index 376497eeaf..444b069b09 100644
--- a/examples/standalone/gtest_setup/CMakeLists.txt
+++ b/examples/standalone/gtest_setup/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR)
 project(GTestSetup)
 
 # Find Gazebo
-find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+find_package(gz-sim9 REQUIRED)
+set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
 # Fetch and configure GTest
 include(FetchContent)
diff --git a/examples/standalone/light_control/CMakeLists.txt b/examples/standalone/light_control/CMakeLists.txt
index 0f3de2e3e7..b54b5f8a5f 100644
--- a/examples/standalone/light_control/CMakeLists.txt
+++ b/examples/standalone/light_control/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-light-control)
 find_package(gz-transport13 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 
-find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+find_package(gz-sim9 REQUIRED)
+set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
 add_executable(light_control light_control.cc)
 target_link_libraries(light_control
diff --git a/examples/standalone/lrauv_control/CMakeLists.txt b/examples/standalone/lrauv_control/CMakeLists.txt
index f0cbc94a03..cd17e2c16a 100644
--- a/examples/standalone/lrauv_control/CMakeLists.txt
+++ b/examples/standalone/lrauv_control/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-lrauv-control)
 find_package(gz-transport13 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 
-find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+find_package(gz-sim9 REQUIRED)
+set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
 add_executable(lrauv_control lrauv_control.cc)
 target_link_libraries(lrauv_control
diff --git a/examples/standalone/multi_lrauv_race/CMakeLists.txt b/examples/standalone/multi_lrauv_race/CMakeLists.txt
index 6bffdef142..f34fd7b584 100644
--- a/examples/standalone/multi_lrauv_race/CMakeLists.txt
+++ b/examples/standalone/multi_lrauv_race/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-multi-lrauv-race)
 find_package(gz-transport13 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 
-find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+find_package(gz-sim9 REQUIRED)
+set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 
 add_executable(multi_lrauv_race multi_lrauv_race.cc)
 target_link_libraries(multi_lrauv_race
diff --git a/python/test/gz_test_deps/sim.py b/python/test/gz_test_deps/sim.py
index 38c3164e14..c41dc0aff9 100644
--- a/python/test/gz_test_deps/sim.py
+++ b/python/test/gz_test_deps/sim.py
@@ -1 +1 @@
-from gz.sim8 import *
+from gz.sim9 import *
diff --git a/src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.cc b/src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.cc
index de9149b5b1..97a2912208 100644
--- a/src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.cc
+++ b/src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.cc
@@ -21,8 +21,6 @@
 
 #include "GlobalIlluminationCiVct.hh"
 
-#include "gz/rendering/GlobalIlluminationCiVct.hh"
-
 using namespace gz;
 using namespace sim;
 
diff --git a/src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.hh b/src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.hh
index 13f53e45dc..eacde8b043 100644
--- a/src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.hh
+++ b/src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.hh
@@ -26,18 +26,8 @@
 
 #include "Tsa.hh"
 
-namespace gz
-{
-  namespace rendering
-  {
-    inline namespace GZ_SIM_VERSION_NAMESPACE
-    {
-      /// Forward declare the only ptr we need
-      class CiVctCascade;
-      typedef std::shared_ptr<CiVctCascade> CiVctCascadePtr;
-    }  // namespace GZ_SIM_GAZEBO_VERSION_NAMESPACE
-  }  // namespace rendering
-}  // namespace gz
+
+#include "gz/rendering/GlobalIlluminationCiVct.hh"
 
 namespace gz
 {
diff --git a/tutorials/blender_distort_meshes.md b/tutorials/blender_distort_meshes.md
index 5f619be97f..3db2f88722 100644
--- a/tutorials/blender_distort_meshes.md
+++ b/tutorials/blender_distort_meshes.md
@@ -25,7 +25,7 @@ If newer versions do not work for you, Blender 2.92 can be found
 ## Usage
 
 Locate or download the Blender Python
-[script](https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/scripts/blender/distort_mesh.py).
+[script](https://github.com/gazebosim/gz-sim/blob/main/examples/scripts/blender/distort_mesh.py).
 
 Launch the Blender GUI.
 
diff --git a/tutorials/blender_sdf_exporter.md b/tutorials/blender_sdf_exporter.md
index 604ea41d0c..e1b193c7cf 100644
--- a/tutorials/blender_sdf_exporter.md
+++ b/tutorials/blender_sdf_exporter.md
@@ -12,7 +12,7 @@ mesh/materials/lights feature set. As such feel free to customize the script as
 
 ## Using the Blender SDF Exporter
 
-1. Download the blender script in [sdf_exporter.py](https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/scripts/blender/sdf_exporter.py).
+1. Download the blender script in [sdf_exporter.py](https://github.com/gazebosim/gz-sim/tree/main/examples/scripts/blender/sdf_exporter.py).
 
 2. Open the script under Blender's Scripting tab and run it.
 
diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md
index e58dd764b2..20f834ca8f 100644
--- a/tutorials/migrating_ardupilot_plugin.md
+++ b/tutorials/migrating_ardupilot_plugin.md
@@ -729,7 +729,7 @@ In the new code we explicitly reference each Gazebo package that we use:
 # NEW
 find_package(sdformat14 REQUIRED)
 find_package(gz-common5-all REQUIRED)
-find_package(gz-sim8-all REQUIRED)
+find_package(gz-sim9-all REQUIRED)
 find_package(gz-math7-all REQUIRED)
 find_package(gz-msgs10-all REQUIRED)
 find_package(gz-physics7-all REQUIRED)
diff --git a/tutorials/python_interfaces.md b/tutorials/python_interfaces.md
index a696512dc0..e35e7b2492 100644
--- a/tutorials/python_interfaces.md
+++ b/tutorials/python_interfaces.md
@@ -43,7 +43,7 @@ server.run(True, 1000, False)
 ## Run the example
 
 In the
-[examples/scripts/python_api](https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/scripts/python_api)
+[examples/scripts/python_api](https://github.com/gazebosim/gz-sim/tree/main/examples/scripts/python_api)
 folder there is a Python script that shows how to make use of this API.
 
 If you compiled Gazebo from source you should modify your `PYTHONPATH`:
@@ -97,7 +97,7 @@ Example python system:
 <!-- \include examples/scripts/python_api/systems/test_system.py -->
 ```python
 from gz.math7 import Vector3d
-from gz.sim8 import Model, Link
+from gz.sim9 import Model, Link
 import random
 
 
diff --git a/tutorials/triggered_publisher.md b/tutorials/triggered_publisher.md
index 5d497dda86..ffad764809 100644
--- a/tutorials/triggered_publisher.md
+++ b/tutorials/triggered_publisher.md
@@ -16,10 +16,10 @@ Publisher systems can be chained together by showing how the falling of the box
 can trigger another box to fall. Last, it covers how a service call can be
 triggered to reset the robot pose. The finished world SDFormat file for this
 tutorial can be found in
-[examples/worlds/triggered_publisher.sdf](https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/worlds/triggered_publisher.sdf)
+[examples/worlds/triggered_publisher.sdf](https://github.com/gazebosim/gz-sim/blob/main/examples/worlds/triggered_publisher.sdf)
 
 We will use the differential drive vehicle from
-[examples/worlds/diff_drive.sdf](https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/worlds/diff_drive.sdf),
+[examples/worlds/diff_drive.sdf](https://github.com/gazebosim/gz-sim/blob/main/examples/worlds/diff_drive.sdf),
 but modify the input topic of the `DiffDrive` system to `cmd_vel`. A snippet of
 the change to the `DiffDrive` system is shown below: