diff --git a/maliput_drake/CMakeLists.txt b/CMakeLists.txt
similarity index 93%
rename from maliput_drake/CMakeLists.txt
rename to CMakeLists.txt
index 5cc61d7..3edaf8d 100644
--- a/maliput_drake/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,8 +25,8 @@ message(STATUS "\n\n========= Project Configuration ========\n")
 
 set(BUILD_SHARED_LIBS true)
 
-include(${PROJECT_SOURCE_DIR}/../cmake/DefaultCFlags.cmake)
-include(${PROJECT_SOURCE_DIR}/../cmake/SanitizersConfig.cmake)
+include(${PROJECT_SOURCE_DIR}/cmake/DefaultCFlags.cmake)
+include(${PROJECT_SOURCE_DIR}/cmake/SanitizersConfig.cmake)
 
 ament_environment_hooks(
   "${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}"
diff --git a/maliput_drake/include/CMakeLists.txt b/include/CMakeLists.txt
similarity index 100%
rename from maliput_drake/include/CMakeLists.txt
rename to include/CMakeLists.txt
diff --git a/maliput_drake/include/maliput/CMakeLists.txt b/include/maliput/CMakeLists.txt
similarity index 100%
rename from maliput_drake/include/maliput/CMakeLists.txt
rename to include/maliput/CMakeLists.txt
diff --git a/maliput_drake/include/maliput/drake/CMakeLists.txt b/include/maliput/drake/CMakeLists.txt
similarity index 100%
rename from maliput_drake/include/maliput/drake/CMakeLists.txt
rename to include/maliput/drake/CMakeLists.txt
diff --git a/maliput_drake/include/maliput/drake/common/CMakeLists.txt b/include/maliput/drake/common/CMakeLists.txt
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/CMakeLists.txt
rename to include/maliput/drake/common/CMakeLists.txt
diff --git a/maliput_drake/include/maliput/drake/common/autodiff.h b/include/maliput/drake/common/autodiff.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/autodiff.h
rename to include/maliput/drake/common/autodiff.h
diff --git a/maliput_drake/include/maliput/drake/common/autodiff_overloads.h b/include/maliput/drake/common/autodiff_overloads.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/autodiff_overloads.h
rename to include/maliput/drake/common/autodiff_overloads.h
diff --git a/maliput_drake/include/maliput/drake/common/autodiffxd.h b/include/maliput/drake/common/autodiffxd.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/autodiffxd.h
rename to include/maliput/drake/common/autodiffxd.h
diff --git a/maliput_drake/include/maliput/drake/common/autodiffxd_make_coherent.h b/include/maliput/drake/common/autodiffxd_make_coherent.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/autodiffxd_make_coherent.h
rename to include/maliput/drake/common/autodiffxd_make_coherent.h
diff --git a/maliput_drake/include/maliput/drake/common/bit_cast.h b/include/maliput/drake/common/bit_cast.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/bit_cast.h
rename to include/maliput/drake/common/bit_cast.h
diff --git a/maliput_drake/include/maliput/drake/common/cond.h b/include/maliput/drake/common/cond.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/cond.h
rename to include/maliput/drake/common/cond.h
diff --git a/maliput_drake/include/maliput/drake/common/constants.h b/include/maliput/drake/common/constants.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/constants.h
rename to include/maliput/drake/common/constants.h
diff --git a/maliput_drake/include/maliput/drake/common/copyable_unique_ptr.h b/include/maliput/drake/common/copyable_unique_ptr.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/copyable_unique_ptr.h
rename to include/maliput/drake/common/copyable_unique_ptr.h
diff --git a/maliput_drake/include/maliput/drake/common/default_scalars.h b/include/maliput/drake/common/default_scalars.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/default_scalars.h
rename to include/maliput/drake/common/default_scalars.h
diff --git a/maliput_drake/include/maliput/drake/common/double_overloads.h b/include/maliput/drake/common/double_overloads.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/double_overloads.h
rename to include/maliput/drake/common/double_overloads.h
diff --git a/maliput_drake/include/maliput/drake/common/doxygen_cxx.h b/include/maliput/drake/common/doxygen_cxx.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/doxygen_cxx.h
rename to include/maliput/drake/common/doxygen_cxx.h
diff --git a/maliput_drake/include/maliput/drake/common/drake_assert.h b/include/maliput/drake/common/drake_assert.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/drake_assert.h
rename to include/maliput/drake/common/drake_assert.h
diff --git a/maliput_drake/include/maliput/drake/common/drake_assertion_error.h b/include/maliput/drake/common/drake_assertion_error.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/drake_assertion_error.h
rename to include/maliput/drake/common/drake_assertion_error.h
diff --git a/maliput_drake/include/maliput/drake/common/drake_bool.h b/include/maliput/drake/common/drake_bool.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/drake_bool.h
rename to include/maliput/drake/common/drake_bool.h
diff --git a/maliput_drake/include/maliput/drake/common/drake_copyable.h b/include/maliput/drake/common/drake_copyable.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/drake_copyable.h
rename to include/maliput/drake/common/drake_copyable.h
diff --git a/maliput_drake/include/maliput/drake/common/drake_deprecated.h b/include/maliput/drake/common/drake_deprecated.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/drake_deprecated.h
rename to include/maliput/drake/common/drake_deprecated.h
diff --git a/maliput_drake/include/maliput/drake/common/drake_marker.h b/include/maliput/drake/common/drake_marker.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/drake_marker.h
rename to include/maliput/drake/common/drake_marker.h
diff --git a/maliput_drake/include/maliput/drake/common/drake_throw.h b/include/maliput/drake/common/drake_throw.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/drake_throw.h
rename to include/maliput/drake/common/drake_throw.h
diff --git a/maliput_drake/include/maliput/drake/common/dummy_value.h b/include/maliput/drake/common/dummy_value.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/dummy_value.h
rename to include/maliput/drake/common/dummy_value.h
diff --git a/maliput_drake/include/maliput/drake/common/eigen_autodiff_types.h b/include/maliput/drake/common/eigen_autodiff_types.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/eigen_autodiff_types.h
rename to include/maliput/drake/common/eigen_autodiff_types.h
diff --git a/maliput_drake/include/maliput/drake/common/eigen_stl_types.h b/include/maliput/drake/common/eigen_stl_types.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/eigen_stl_types.h
rename to include/maliput/drake/common/eigen_stl_types.h
diff --git a/maliput_drake/include/maliput/drake/common/eigen_types.h b/include/maliput/drake/common/eigen_types.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/eigen_types.h
rename to include/maliput/drake/common/eigen_types.h
diff --git a/maliput_drake/include/maliput/drake/common/extract_double.h b/include/maliput/drake/common/extract_double.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/extract_double.h
rename to include/maliput/drake/common/extract_double.h
diff --git a/maliput_drake/include/maliput/drake/common/hash.h b/include/maliput/drake/common/hash.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/hash.h
rename to include/maliput/drake/common/hash.h
diff --git a/maliput_drake/include/maliput/drake/common/identifier.h b/include/maliput/drake/common/identifier.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/identifier.h
rename to include/maliput/drake/common/identifier.h
diff --git a/maliput_drake/include/maliput/drake/common/is_approx_equal_abstol.h b/include/maliput/drake/common/is_approx_equal_abstol.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/is_approx_equal_abstol.h
rename to include/maliput/drake/common/is_approx_equal_abstol.h
diff --git a/maliput_drake/include/maliput/drake/common/is_cloneable.h b/include/maliput/drake/common/is_cloneable.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/is_cloneable.h
rename to include/maliput/drake/common/is_cloneable.h
diff --git a/maliput_drake/include/maliput/drake/common/is_less_than_comparable.h b/include/maliput/drake/common/is_less_than_comparable.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/is_less_than_comparable.h
rename to include/maliput/drake/common/is_less_than_comparable.h
diff --git a/maliput_drake/include/maliput/drake/common/name_value.h b/include/maliput/drake/common/name_value.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/name_value.h
rename to include/maliput/drake/common/name_value.h
diff --git a/maliput_drake/include/maliput/drake/common/never_destroyed.h b/include/maliput/drake/common/never_destroyed.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/never_destroyed.h
rename to include/maliput/drake/common/never_destroyed.h
diff --git a/maliput_drake/include/maliput/drake/common/nice_type_name.h b/include/maliput/drake/common/nice_type_name.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/nice_type_name.h
rename to include/maliput/drake/common/nice_type_name.h
diff --git a/maliput_drake/include/maliput/drake/common/nice_type_name_override.h b/include/maliput/drake/common/nice_type_name_override.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/nice_type_name_override.h
rename to include/maliput/drake/common/nice_type_name_override.h
diff --git a/maliput_drake/include/maliput/drake/common/pointer_cast.h b/include/maliput/drake/common/pointer_cast.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/pointer_cast.h
rename to include/maliput/drake/common/pointer_cast.h
diff --git a/maliput_drake/include/maliput/drake/common/polynomial.h b/include/maliput/drake/common/polynomial.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/polynomial.h
rename to include/maliput/drake/common/polynomial.h
diff --git a/maliput_drake/include/maliput/drake/common/random.h b/include/maliput/drake/common/random.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/random.h
rename to include/maliput/drake/common/random.h
diff --git a/maliput_drake/include/maliput/drake/common/reset_after_move.h b/include/maliput/drake/common/reset_after_move.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/reset_after_move.h
rename to include/maliput/drake/common/reset_after_move.h
diff --git a/maliput_drake/include/maliput/drake/common/reset_on_copy.h b/include/maliput/drake/common/reset_on_copy.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/reset_on_copy.h
rename to include/maliput/drake/common/reset_on_copy.h
diff --git a/maliput_drake/include/maliput/drake/common/scope_exit.h b/include/maliput/drake/common/scope_exit.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/scope_exit.h
rename to include/maliput/drake/common/scope_exit.h
diff --git a/maliput_drake/include/maliput/drake/common/scoped_singleton.h b/include/maliput/drake/common/scoped_singleton.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/scoped_singleton.h
rename to include/maliput/drake/common/scoped_singleton.h
diff --git a/maliput_drake/include/maliput/drake/common/sorted_pair.h b/include/maliput/drake/common/sorted_pair.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/sorted_pair.h
rename to include/maliput/drake/common/sorted_pair.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic.h b/include/maliput/drake/common/symbolic.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic.h
rename to include/maliput/drake/common/symbolic.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_chebyshev_basis_element.h b/include/maliput/drake/common/symbolic_chebyshev_basis_element.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_chebyshev_basis_element.h
rename to include/maliput/drake/common/symbolic_chebyshev_basis_element.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_chebyshev_polynomial.h b/include/maliput/drake/common/symbolic_chebyshev_polynomial.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_chebyshev_polynomial.h
rename to include/maliput/drake/common/symbolic_chebyshev_polynomial.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_codegen.h b/include/maliput/drake/common/symbolic_codegen.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_codegen.h
rename to include/maliput/drake/common/symbolic_codegen.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_decompose.h b/include/maliput/drake/common/symbolic_decompose.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_decompose.h
rename to include/maliput/drake/common/symbolic_decompose.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_environment.h b/include/maliput/drake/common/symbolic_environment.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_environment.h
rename to include/maliput/drake/common/symbolic_environment.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_expression.h b/include/maliput/drake/common/symbolic_expression.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_expression.h
rename to include/maliput/drake/common/symbolic_expression.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_expression_cell.h b/include/maliput/drake/common/symbolic_expression_cell.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_expression_cell.h
rename to include/maliput/drake/common/symbolic_expression_cell.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_expression_visitor.h b/include/maliput/drake/common/symbolic_expression_visitor.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_expression_visitor.h
rename to include/maliput/drake/common/symbolic_expression_visitor.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_formula.h b/include/maliput/drake/common/symbolic_formula.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_formula.h
rename to include/maliput/drake/common/symbolic_formula.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_formula_cell.h b/include/maliput/drake/common/symbolic_formula_cell.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_formula_cell.h
rename to include/maliput/drake/common/symbolic_formula_cell.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_formula_visitor.h b/include/maliput/drake/common/symbolic_formula_visitor.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_formula_visitor.h
rename to include/maliput/drake/common/symbolic_formula_visitor.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_generic_polynomial.h b/include/maliput/drake/common/symbolic_generic_polynomial.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_generic_polynomial.h
rename to include/maliput/drake/common/symbolic_generic_polynomial.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_ldlt.h b/include/maliput/drake/common/symbolic_ldlt.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_ldlt.h
rename to include/maliput/drake/common/symbolic_ldlt.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_monomial.h b/include/maliput/drake/common/symbolic_monomial.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_monomial.h
rename to include/maliput/drake/common/symbolic_monomial.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_monomial_basis_element.h b/include/maliput/drake/common/symbolic_monomial_basis_element.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_monomial_basis_element.h
rename to include/maliput/drake/common/symbolic_monomial_basis_element.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_monomial_util.h b/include/maliput/drake/common/symbolic_monomial_util.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_monomial_util.h
rename to include/maliput/drake/common/symbolic_monomial_util.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_polynomial.h b/include/maliput/drake/common/symbolic_polynomial.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_polynomial.h
rename to include/maliput/drake/common/symbolic_polynomial.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_polynomial_basis.h b/include/maliput/drake/common/symbolic_polynomial_basis.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_polynomial_basis.h
rename to include/maliput/drake/common/symbolic_polynomial_basis.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_polynomial_basis_element.h b/include/maliput/drake/common/symbolic_polynomial_basis_element.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_polynomial_basis_element.h
rename to include/maliput/drake/common/symbolic_polynomial_basis_element.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_rational_function.h b/include/maliput/drake/common/symbolic_rational_function.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_rational_function.h
rename to include/maliput/drake/common/symbolic_rational_function.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_simplification.h b/include/maliput/drake/common/symbolic_simplification.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_simplification.h
rename to include/maliput/drake/common/symbolic_simplification.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_variable.h b/include/maliput/drake/common/symbolic_variable.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_variable.h
rename to include/maliput/drake/common/symbolic_variable.h
diff --git a/maliput_drake/include/maliput/drake/common/symbolic_variables.h b/include/maliput/drake/common/symbolic_variables.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/symbolic_variables.h
rename to include/maliput/drake/common/symbolic_variables.h
diff --git a/maliput_drake/include/maliput/drake/common/text_logging.h b/include/maliput/drake/common/text_logging.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/text_logging.h
rename to include/maliput/drake/common/text_logging.h
diff --git a/maliput_drake/include/maliput/drake/common/trajectories/bspline_trajectory.h b/include/maliput/drake/common/trajectories/bspline_trajectory.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/common/trajectories/bspline_trajectory.h
rename to include/maliput/drake/common/trajectories/bspline_trajectory.h
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diff --git a/maliput_drake/include/maliput/drake/math/bspline_basis.h b/include/maliput/drake/math/bspline_basis.h
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diff --git a/maliput_drake/include/maliput/drake/math/gradient.h b/include/maliput/drake/math/gradient.h
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diff --git a/maliput_drake/include/maliput/drake/math/hopf_coordinate.h b/include/maliput/drake/math/hopf_coordinate.h
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diff --git a/maliput_drake/include/maliput/drake/math/matrix_util.h b/include/maliput/drake/math/matrix_util.h
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diff --git a/maliput_drake/include/maliput/drake/math/normalize_vector.h b/include/maliput/drake/math/normalize_vector.h
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diff --git a/maliput_drake/include/maliput/drake/math/orthonormal_basis.h b/include/maliput/drake/math/orthonormal_basis.h
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diff --git a/maliput_drake/include/maliput/drake/math/quadratic_form.h b/include/maliput/drake/math/quadratic_form.h
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diff --git a/maliput_drake/include/maliput/drake/math/quaternion.h b/include/maliput/drake/math/quaternion.h
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diff --git a/maliput_drake/include/maliput/drake/math/random_rotation.h b/include/maliput/drake/math/random_rotation.h
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diff --git a/maliput_drake/include/maliput/drake/math/rigid_transform.h b/include/maliput/drake/math/rigid_transform.h
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diff --git a/maliput_drake/include/maliput/drake/math/saturate.h b/include/maliput/drake/math/saturate.h
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diff --git a/maliput_drake/include/maliput/drake/systems/CMakeLists.txt b/include/maliput/drake/systems/CMakeLists.txt
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diff --git a/maliput_drake/include/maliput/drake/systems/discrete_systems.h b/include/maliput/drake/systems/discrete_systems.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/diagram_continuous_state.h b/include/maliput/drake/systems/framework/diagram_continuous_state.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/diagram_continuous_state.h
rename to include/maliput/drake/systems/framework/diagram_continuous_state.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/diagram_discrete_values.h b/include/maliput/drake/systems/framework/diagram_discrete_values.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/event_status.h b/include/maliput/drake/systems/framework/event_status.h
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rename from maliput_drake/include/maliput/drake/systems/framework/event_status.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/fixed_input_port_value.h b/include/maliput/drake/systems/framework/fixed_input_port_value.h
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rename from maliput_drake/include/maliput/drake/systems/framework/fixed_input_port_value.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/framework_common.h b/include/maliput/drake/systems/framework/framework_common.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/input_port.h b/include/maliput/drake/systems/framework/input_port.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/leaf_context.h b/include/maliput/drake/systems/framework/leaf_context.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/leaf_output_port.h b/include/maliput/drake/systems/framework/leaf_output_port.h
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rename from maliput_drake/include/maliput/drake/systems/framework/leaf_output_port.h
rename to include/maliput/drake/systems/framework/leaf_output_port.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/leaf_system.h b/include/maliput/drake/systems/framework/leaf_system.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/leaf_system.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/model_values.h b/include/maliput/drake/systems/framework/model_values.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/model_values.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/output_port.h b/include/maliput/drake/systems/framework/output_port.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/output_port.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/output_port_base.h b/include/maliput/drake/systems/framework/output_port_base.h
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rename from maliput_drake/include/maliput/drake/systems/framework/output_port_base.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/parameters.h b/include/maliput/drake/systems/framework/parameters.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/parameters.h
rename to include/maliput/drake/systems/framework/parameters.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/port_base.h b/include/maliput/drake/systems/framework/port_base.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/port_base.h
rename to include/maliput/drake/systems/framework/port_base.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/scalar_conversion_traits.h b/include/maliput/drake/systems/framework/scalar_conversion_traits.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/scalar_conversion_traits.h
rename to include/maliput/drake/systems/framework/scalar_conversion_traits.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/single_output_vector_source.h b/include/maliput/drake/systems/framework/single_output_vector_source.h
similarity index 100%
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/state.h b/include/maliput/drake/systems/framework/state.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/state.h
rename to include/maliput/drake/systems/framework/state.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/subvector.h b/include/maliput/drake/systems/framework/subvector.h
similarity index 100%
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/supervector.h b/include/maliput/drake/systems/framework/supervector.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/system.h b/include/maliput/drake/systems/framework/system.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_base.h b/include/maliput/drake/systems/framework/system_base.h
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rename from maliput_drake/include/maliput/drake/systems/framework/system_base.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_compatibility_doxygen.h b/include/maliput/drake/systems/framework/system_compatibility_doxygen.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/system_compatibility_doxygen.h
rename to include/maliput/drake/systems/framework/system_compatibility_doxygen.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_constraint.h b/include/maliput/drake/systems/framework/system_constraint.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/system_constraint.h
rename to include/maliput/drake/systems/framework/system_constraint.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_html.h b/include/maliput/drake/systems/framework/system_html.h
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rename from maliput_drake/include/maliput/drake/systems/framework/system_html.h
rename to include/maliput/drake/systems/framework/system_html.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_output.h b/include/maliput/drake/systems/framework/system_output.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/system_output.h
rename to include/maliput/drake/systems/framework/system_output.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_scalar_conversion_doxygen.h b/include/maliput/drake/systems/framework/system_scalar_conversion_doxygen.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_scalar_converter.h b/include/maliput/drake/systems/framework/system_scalar_converter.h
similarity index 100%
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rename to include/maliput/drake/systems/framework/system_scalar_converter.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_symbolic_inspector.h b/include/maliput/drake/systems/framework/system_symbolic_inspector.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/system_symbolic_inspector.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_type_tag.h b/include/maliput/drake/systems/framework/system_type_tag.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/system_type_tag.h
rename to include/maliput/drake/systems/framework/system_type_tag.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/system_visitor.h b/include/maliput/drake/systems/framework/system_visitor.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/system_visitor.h
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/value_checker.h b/include/maliput/drake/systems/framework/value_checker.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/value_checker.h
rename to include/maliput/drake/systems/framework/value_checker.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/value_producer.h b/include/maliput/drake/systems/framework/value_producer.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/value_producer.h
rename to include/maliput/drake/systems/framework/value_producer.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/value_to_abstract_value.h b/include/maliput/drake/systems/framework/value_to_abstract_value.h
similarity index 100%
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/vector_base.h b/include/maliput/drake/systems/framework/vector_base.h
similarity index 100%
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diff --git a/maliput_drake/include/maliput/drake/systems/framework/vector_system.h b/include/maliput/drake/systems/framework/vector_system.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/vector_system.h
rename to include/maliput/drake/systems/framework/vector_system.h
diff --git a/maliput_drake/include/maliput/drake/systems/framework/witness_function.h b/include/maliput/drake/systems/framework/witness_function.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/framework/witness_function.h
rename to include/maliput/drake/systems/framework/witness_function.h
diff --git a/maliput_drake/include/maliput/drake/systems/stochastic_systems.h b/include/maliput/drake/systems/stochastic_systems.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/stochastic_systems.h
rename to include/maliput/drake/systems/stochastic_systems.h
diff --git a/maliput_drake/include/maliput/drake/systems/systems.h b/include/maliput/drake/systems/systems.h
similarity index 100%
rename from maliput_drake/include/maliput/drake/systems/systems.h
rename to include/maliput/drake/systems/systems.h
diff --git a/maliput_drake/package.xml b/package.xml
similarity index 94%
rename from maliput_drake/package.xml
rename to package.xml
index b787ac6..57594d5 100644
--- a/maliput_drake/package.xml
+++ b/package.xml
@@ -5,7 +5,7 @@
   <version>0.1.0</version>
   <description>Maliput drake extraction to provide trajectory integration support</description>
   <maintainer email="daniel.stonier@tri.global">Daniel Stonier</maintainer>
-  <license file="../LICENSE">BSD Clause 3</license>
+  <license file="LICENSE">BSD Clause 3</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/maliput_drake/setup.sh.in b/setup.sh.in
similarity index 100%
rename from maliput_drake/setup.sh.in
rename to setup.sh.in
diff --git a/maliput_drake/src/CMakeLists.txt b/src/CMakeLists.txt
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diff --git a/maliput_drake/src/common/CMakeLists.txt b/src/common/CMakeLists.txt
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rename to src/common/CMakeLists.txt
diff --git a/maliput_drake/src/common/cond.cc b/src/common/cond.cc
similarity index 100%
rename from maliput_drake/src/common/cond.cc
rename to src/common/cond.cc
diff --git a/maliput_drake/src/common/double_overloads.cc b/src/common/double_overloads.cc
similarity index 100%
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diff --git a/maliput_drake/src/common/drake_assert_and_throw.cc b/src/common/drake_assert_and_throw.cc
similarity index 100%
rename from maliput_drake/src/common/drake_assert_and_throw.cc
rename to src/common/drake_assert_and_throw.cc
diff --git a/maliput_drake/src/common/drake_marker.cc b/src/common/drake_marker.cc
similarity index 100%
rename from maliput_drake/src/common/drake_marker.cc
rename to src/common/drake_marker.cc
diff --git a/maliput_drake/src/common/hash.cc b/src/common/hash.cc
similarity index 100%
rename from maliput_drake/src/common/hash.cc
rename to src/common/hash.cc
diff --git a/maliput_drake/src/common/nice_type_name.cc b/src/common/nice_type_name.cc
similarity index 100%
rename from maliput_drake/src/common/nice_type_name.cc
rename to src/common/nice_type_name.cc
diff --git a/maliput_drake/src/common/nice_type_name_override.cc b/src/common/nice_type_name_override.cc
similarity index 100%
rename from maliput_drake/src/common/nice_type_name_override.cc
rename to src/common/nice_type_name_override.cc
diff --git a/maliput_drake/src/common/pointer_cast.cc b/src/common/pointer_cast.cc
similarity index 100%
rename from maliput_drake/src/common/pointer_cast.cc
rename to src/common/pointer_cast.cc
diff --git a/maliput_drake/src/common/polynomial.cc b/src/common/polynomial.cc
similarity index 100%
rename from maliput_drake/src/common/polynomial.cc
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diff --git a/maliput_drake/src/common/random.cc b/src/common/random.cc
similarity index 100%
rename from maliput_drake/src/common/random.cc
rename to src/common/random.cc
diff --git a/maliput_drake/src/common/sorted_pair.cc b/src/common/sorted_pair.cc
similarity index 100%
rename from maliput_drake/src/common/sorted_pair.cc
rename to src/common/sorted_pair.cc
diff --git a/maliput_drake/src/common/symbolic.cc b/src/common/symbolic.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic.cc
rename to src/common/symbolic.cc
diff --git a/maliput_drake/src/common/symbolic_chebyshev_basis_element.cc b/src/common/symbolic_chebyshev_basis_element.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_chebyshev_basis_element.cc
rename to src/common/symbolic_chebyshev_basis_element.cc
diff --git a/maliput_drake/src/common/symbolic_chebyshev_polynomial.cc b/src/common/symbolic_chebyshev_polynomial.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_chebyshev_polynomial.cc
rename to src/common/symbolic_chebyshev_polynomial.cc
diff --git a/maliput_drake/src/common/symbolic_codegen.cc b/src/common/symbolic_codegen.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_codegen.cc
rename to src/common/symbolic_codegen.cc
diff --git a/maliput_drake/src/common/symbolic_decompose.cc b/src/common/symbolic_decompose.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_decompose.cc
rename to src/common/symbolic_decompose.cc
diff --git a/maliput_drake/src/common/symbolic_environment.cc b/src/common/symbolic_environment.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_environment.cc
rename to src/common/symbolic_environment.cc
diff --git a/maliput_drake/src/common/symbolic_expression.cc b/src/common/symbolic_expression.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_expression.cc
rename to src/common/symbolic_expression.cc
diff --git a/maliput_drake/src/common/symbolic_expression_cell.cc b/src/common/symbolic_expression_cell.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_expression_cell.cc
rename to src/common/symbolic_expression_cell.cc
diff --git a/maliput_drake/src/common/symbolic_formula.cc b/src/common/symbolic_formula.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_formula.cc
rename to src/common/symbolic_formula.cc
diff --git a/maliput_drake/src/common/symbolic_formula_cell.cc b/src/common/symbolic_formula_cell.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_formula_cell.cc
rename to src/common/symbolic_formula_cell.cc
diff --git a/maliput_drake/src/common/symbolic_generic_polynomial.cc b/src/common/symbolic_generic_polynomial.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_generic_polynomial.cc
rename to src/common/symbolic_generic_polynomial.cc
diff --git a/maliput_drake/src/common/symbolic_ldlt.cc b/src/common/symbolic_ldlt.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_ldlt.cc
rename to src/common/symbolic_ldlt.cc
diff --git a/maliput_drake/src/common/symbolic_monomial.cc b/src/common/symbolic_monomial.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_monomial.cc
rename to src/common/symbolic_monomial.cc
diff --git a/maliput_drake/src/common/symbolic_monomial_basis_element.cc b/src/common/symbolic_monomial_basis_element.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_monomial_basis_element.cc
rename to src/common/symbolic_monomial_basis_element.cc
diff --git a/maliput_drake/src/common/symbolic_monomial_util.cc b/src/common/symbolic_monomial_util.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_monomial_util.cc
rename to src/common/symbolic_monomial_util.cc
diff --git a/maliput_drake/src/common/symbolic_polynomial.cc b/src/common/symbolic_polynomial.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_polynomial.cc
rename to src/common/symbolic_polynomial.cc
diff --git a/maliput_drake/src/common/symbolic_polynomial_basis_element.cc b/src/common/symbolic_polynomial_basis_element.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_polynomial_basis_element.cc
rename to src/common/symbolic_polynomial_basis_element.cc
diff --git a/maliput_drake/src/common/symbolic_rational_function.cc b/src/common/symbolic_rational_function.cc
similarity index 100%
rename from maliput_drake/src/common/symbolic_rational_function.cc
rename to src/common/symbolic_rational_function.cc
diff --git a/maliput_drake/src/common/symbolic_simplification.cc b/src/common/symbolic_simplification.cc
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rename from maliput_drake/src/systems/framework/system_scalar_converter.cc
rename to src/systems/framework/system_scalar_converter.cc
diff --git a/maliput_drake/src/systems/framework/system_symbolic_inspector.cc b/src/systems/framework/system_symbolic_inspector.cc
similarity index 100%
rename from maliput_drake/src/systems/framework/system_symbolic_inspector.cc
rename to src/systems/framework/system_symbolic_inspector.cc
diff --git a/maliput_drake/src/systems/framework/system_type_tag.cc b/src/systems/framework/system_type_tag.cc
similarity index 100%
rename from maliput_drake/src/systems/framework/system_type_tag.cc
rename to src/systems/framework/system_type_tag.cc
diff --git a/maliput_drake/src/systems/framework/system_visitor.cc b/src/systems/framework/system_visitor.cc
similarity index 100%
rename from maliput_drake/src/systems/framework/system_visitor.cc
rename to src/systems/framework/system_visitor.cc
diff --git a/maliput_drake/src/systems/framework/value_producer.cc b/src/systems/framework/value_producer.cc
similarity index 100%
rename from maliput_drake/src/systems/framework/value_producer.cc
rename to src/systems/framework/value_producer.cc
diff --git a/maliput_drake/src/systems/framework/vector_base.cc b/src/systems/framework/vector_base.cc
similarity index 100%
rename from maliput_drake/src/systems/framework/vector_base.cc
rename to src/systems/framework/vector_base.cc
diff --git a/maliput_drake/src/systems/framework/vector_system.cc b/src/systems/framework/vector_system.cc
similarity index 100%
rename from maliput_drake/src/systems/framework/vector_system.cc
rename to src/systems/framework/vector_system.cc
diff --git a/maliput_drake/src/systems/framework/witness_function.cc b/src/systems/framework/witness_function.cc
similarity index 100%
rename from maliput_drake/src/systems/framework/witness_function.cc
rename to src/systems/framework/witness_function.cc