diff --git a/CMakeLists.txt b/CMakeLists.txt
index e9c67296b..e429cc1d4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,217 +2,14 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
+# This file is here only to allow build systems to find the
+# real CMake project that is stored in the scenario/ folder.
 cmake_minimum_required(VERSION 3.16)
-project(Scenario VERSION 1.2.2)
-
-# Add custom functions / macros
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-
-# C++ standard
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-# Include useful features
-include(GNUInstallDirs)
-
-# Build type
-if(NOT CMAKE_CONFIGURATION_TYPES)
-    if(NOT CMAKE_BUILD_TYPE)
-        set(CMAKE_BUILD_TYPE "Release" CACHE STRING
-            "Choose the type of build, recommended options are: Debug or Release" FORCE)
-    endif()
-    set(SCENARIO_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
-    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${SCENARIO_BUILD_TYPES})
-endif()
-
-# This new build mode configures the CMake project to be compatible with the pipeline to
-# create the PyPI linux wheel
-include(AddNewBuildMode)
-add_new_build_mode(NAME "PyPI" TEMPLATE "Release")
-
-# Expose shared or static compilation
-set(SCENARIO_BUILD_SHARED_LIBRARY TRUE
-    CACHE BOOL "Compile libraries as shared libraries")
-
-if(NOT ${CMAKE_BUILD_TYPE} STREQUAL "PyPI")
-    # Apply the user choice
-    set(BUILD_SHARED_LIBS ${SCENARIO_BUILD_SHARED_LIBRARY})
-else()
-    # Check that is Linux
-    if(NOT (UNIX AND NOT APPLE))
-        message(FATAL_ERROR "PyPI packages can be only created for Linux at the moment")
-    endif()
-
-    if(SCENARIO_BUILD_SHARED_LIBRARY)
-        message(WARNING "Enabling static compilation, required by the PyPI build mode")
-    endif()
-
-    # Force static compilation
-    set(BUILD_SHARED_LIBS FALSE)
-endif()
-
-# Use -fPIC even if statically compiled
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-
-# Tweak linker flags in Linux
-if(UNIX AND NOT APPLE)
-    if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
-        get_filename_component(LINKER_BIN ${CMAKE_LINKER} NAME)
-            if("${LINKER_BIN}" STREQUAL "ld")
-                set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--unresolved-symbols=report-all")
-            endif()
-    endif()
-endif()
-
-# Control where binaries and libraries are placed in the build folder.
-# This simplifies tests running in Windows.
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
-
-# Get include-what-you-use information when compiling
-option(SCENARIO_USE_IWYU "Get the output of include-what-you-use" OFF)
-mark_as_advanced(SCENARIO_USE_IWYU)
-if(SCENARIO_USE_IWYU)
-    find_program(IWYU_PATH NAMES include-what-you-use iwyu)
-    if(IWYU_PATH)
-        set(CMAKE_CXX_INCLUDE_WHAT_YOU_USE ${IWYU_PATH})
-    endif()
-endif()
-
-# Settings for RPATH
-if(NOT MSVC)
-    option(ENABLE_RPATH "Enable RPATH installation" TRUE)
-    mark_as_advanced(ENABLE_RPATH)
-endif()
-
-# Dependencies
-add_subdirectory(deps)
-
-if(${CMAKE_VERSION} VERSION_GREATER 3.15)
-    cmake_policy(SET CMP0094 NEW)
-endif()
-
-# Find virtualenv's before system's interpreters
-set(Python3_FIND_VIRTUALENV "FIRST" CACHE STRING
-    "Configure the detection of virtual environments")
-set(Python3_FIND_VIRTUALENV_TYPES "FIRST" "ONLY" "STANDARD")
-mark_as_advanced(Python3_FIND_VIRTUALENV)
-set_property(CACHE Python3_FIND_VIRTUALENV PROPERTY STRINGS ${Python3_FIND_VIRTUALENV_TYPES})
-
-# Find Python3
-find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
-message(STATUS "Using Python: ${Python3_EXECUTABLE}")
-
-# Select the appropriate install prefix used throughout the project.
-set(SCENARIO_INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR})
-set(SCENARIO_INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR})
-set(SCENARIO_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR})
-
-if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
-    # Add the libraries installed in the Python site-package folder
-    set(EXTRA_RPATH_DIRS
-        "${Python3_SITELIB}"
-        "${Python3_SITELIB}/scenario/bindings")
-else()
-    # Add the libraries installed in the Python site-package folder
-    # (that in this case is CMAKE_INSTALL_PREFIX)
-    set(EXTRA_RPATH_DIRS
-        "${CMAKE_INSTALL_PREFIX}"
-        "${CMAKE_INSTALL_PREFIX}/scenario/bindings")
-endif()
-
-# Configure RPATH
-include(AddInstallRPATHSupport)
-add_install_rpath_support(
-    BIN_DIRS
-    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_BINDIR}"
-    LIB_DIRS
-    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}"
-    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}/scenario/plugins"
-    "${EXTRA_RPATH_DIRS}"
-    INSTALL_NAME_DIR
-    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}"
-    DEPENDS ENABLE_RPATH
-    USE_LINK_PATH)
-
-# Find a supported Ignition distribution
-if(NOT IGNITION_DISTRIBUTION)
-
-    include(FindIgnitionDistribution)
-    set(SUPPORTED_IGNITION_DISTRIBUTIONS "Edifice" "Dome" "Citadel")
-
-    foreach(distribution IN LISTS SUPPORTED_IGNITION_DISTRIBUTIONS)
-
-        find_ignition_distribution(
-            CODENAME ${distribution}
-            PACKAGES
-            ignition-gazebo
-            REQUIRED FALSE)
-
-        if(${${distribution}_FOUND})
-            message(STATUS "Found Ignition ${distribution}")
-
-            # Select Ignition distribution
-            set(IGNITION_DISTRIBUTION "${distribution}" CACHE
-                STRING "The Ignition distribution found in the system")
-            set_property(CACHE IGNITION_DISTRIBUTION PROPERTY
-                STRINGS ${SUPPORTED_IGNITION_DISTRIBUTIONS})
-
-            break()
-        endif()
-
-    endforeach()
-
-endif()
-
-if(NOT IGNITION_DISTRIBUTION OR "${IGNITION_DISTRIBUTION}" STREQUAL "")
-    set(USE_IGNITION FALSE)
-else()
-    set(USE_IGNITION TRUE)
-endif()
-
-option(SCENARIO_USE_IGNITION
-       "Build C++ code depending on Ignition"
-       ${USE_IGNITION})
-
-# Fail if Ignition is enabled but no compatible distribution was found
-if(SCENARIO_USE_IGNITION AND "${IGNITION_DISTRIBUTION}" STREQUAL "")
-    message(FATAL_ERROR "Failed to find a compatible Ignition Gazebo distribution")
-endif()
-
-# Alias the targets
-if(SCENARIO_USE_IGNITION)
-    include(ImportTargets${IGNITION_DISTRIBUTION})
-endif()
-
-# Helper for exporting targets
-include(InstallBasicPackageFiles)
-
-# =========
-# SCENARI/O
-# =========
-
+project(scenario)
 add_subdirectory(scenario)
 
-# ========
-# BINDINGS
-# ========
-
-# Require to find Ignition libraries when packaging for PyPI
-if(CMAKE_BUILD_TYPE STREQUAL "PyPI" AND NOT USE_IGNITION)
-    message(FATAL_ERROR "Found no Ignition distribution for PyPI package")
-endif()
-
-find_package(SWIG 4.0 QUIET)
-option(SCENARIO_ENABLE_BINDINGS "Enable SWIG bindings" ${SWIG_FOUND})
-
-if(SCENARIO_ENABLE_BINDINGS)
-    add_subdirectory(bindings)
-endif()
-
-# Add unistall target
+# The uninstall target resource must be included in the top-level CMakeLists
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/scenario/cmake)
 include(AddUninstallTarget)
 
 # =============
diff --git a/docs/sphinx/CMakeLists.txt b/docs/sphinx/CMakeLists.txt
index b52bba104..5bdcf3a54 100644
--- a/docs/sphinx/CMakeLists.txt
+++ b/docs/sphinx/CMakeLists.txt
@@ -8,7 +8,7 @@
 # 2. The folder containing the bindings Python modules
 #
 set(PYTHON_PACKAGES_DIR "${CMAKE_SOURCE_DIR}/python")
-set(BINDINGS_MODULES_DIR "${PROJECT_BINARY_DIR}/bindings")
+set(BINDINGS_MODULES_DIR "${PROJECT_BINARY_DIR}/scenario/bindings")
 
 # =============
 # APIDOC TARGET
diff --git a/scenario/CMakeLists.txt b/scenario/CMakeLists.txt
index 7721c9f77..e6658d0f9 100644
--- a/scenario/CMakeLists.txt
+++ b/scenario/CMakeLists.txt
@@ -1,39 +1,216 @@
-# Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
-add_subdirectory(core)
+cmake_minimum_required(VERSION 3.16)
+project(scenario VERSION 1.2.2)
 
-set(SCENARIO_COMPONENTS ScenarioCore)
-set(SCENARIO_PRIVATE_DEPENDENCIES "")
+# Add custom functions / macros
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
+# C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Include useful features
+include(GNUInstallDirs)
+
+# Build type
+if(NOT CMAKE_CONFIGURATION_TYPES)
+    if(NOT CMAKE_BUILD_TYPE)
+        set(CMAKE_BUILD_TYPE "Release" CACHE STRING
+            "Choose the type of build, recommended options are: Debug or Release" FORCE)
+    endif()
+    set(SCENARIO_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${SCENARIO_BUILD_TYPES})
+endif()
+
+# This new build mode configures the CMake project to be compatible with the pipeline to
+# create the PyPI linux wheel
+include(AddNewBuildMode)
+add_new_build_mode(NAME "PyPI" TEMPLATE "Release")
+
+# Expose shared or static compilation
+set(SCENARIO_BUILD_SHARED_LIBRARY TRUE
+    CACHE BOOL "Compile libraries as shared libraries")
+
+if(NOT ${CMAKE_BUILD_TYPE} STREQUAL "PyPI")
+    # Apply the user choice
+    set(BUILD_SHARED_LIBS ${SCENARIO_BUILD_SHARED_LIBRARY})
+else()
+    # Check that is Linux
+    if(NOT (UNIX AND NOT APPLE))
+        message(FATAL_ERROR "PyPI packages can be only created for Linux at the moment")
+    endif()
+
+    if(SCENARIO_BUILD_SHARED_LIBRARY)
+        message(WARNING "Enabling static compilation, required by the PyPI build mode")
+    endif()
+
+    # Force static compilation
+    set(BUILD_SHARED_LIBS FALSE)
+endif()
+
+# Use -fPIC even if statically compiled
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Tweak linker flags in Linux
+if(UNIX AND NOT APPLE)
+    if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
+        get_filename_component(LINKER_BIN ${CMAKE_LINKER} NAME)
+            if("${LINKER_BIN}" STREQUAL "ld")
+                set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--unresolved-symbols=report-all")
+            endif()
+    endif()
+endif()
+
+# Control where binaries and libraries are placed in the build folder.
+# This simplifies tests running in Windows.
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+
+# Get include-what-you-use information when compiling
+option(SCENARIO_USE_IWYU "Get the output of include-what-you-use" OFF)
+mark_as_advanced(SCENARIO_USE_IWYU)
+if(SCENARIO_USE_IWYU)
+    find_program(IWYU_PATH NAMES include-what-you-use iwyu)
+    if(IWYU_PATH)
+        set(CMAKE_CXX_INCLUDE_WHAT_YOU_USE ${IWYU_PATH})
+    endif()
+endif()
+
+# Settings for RPATH
+if(NOT MSVC)
+    option(ENABLE_RPATH "Enable RPATH installation" TRUE)
+    mark_as_advanced(ENABLE_RPATH)
+endif()
+
+# Dependencies
+add_subdirectory(deps)
+
+if(${CMAKE_VERSION} VERSION_GREATER 3.15)
+    cmake_policy(SET CMP0094 NEW)
+endif()
+
+# Find virtualenv's before system's interpreters
+set(Python3_FIND_VIRTUALENV "FIRST" CACHE STRING
+    "Configure the detection of virtual environments")
+set(Python3_FIND_VIRTUALENV_TYPES "FIRST" "ONLY" "STANDARD")
+mark_as_advanced(Python3_FIND_VIRTUALENV)
+set_property(CACHE Python3_FIND_VIRTUALENV PROPERTY STRINGS ${Python3_FIND_VIRTUALENV_TYPES})
+
+# Find Python3
+find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+message(STATUS "Using Python: ${Python3_EXECUTABLE}")
+
+# Select the appropriate install prefix used throughout the project.
+set(SCENARIO_INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR})
+set(SCENARIO_INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR})
+set(SCENARIO_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR})
+
+if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
+    # Add the libraries installed in the Python site-package folder
+    set(EXTRA_RPATH_DIRS
+        "${Python3_SITELIB}"
+        "${Python3_SITELIB}/scenario/bindings")
+else()
+    # Add the libraries installed in the Python site-package folder
+    # (that in this case is CMAKE_INSTALL_PREFIX)
+    set(EXTRA_RPATH_DIRS
+        "${CMAKE_INSTALL_PREFIX}"
+        "${CMAKE_INSTALL_PREFIX}/scenario/bindings")
+endif()
+
+# Configure RPATH
+include(AddInstallRPATHSupport)
+add_install_rpath_support(
+    BIN_DIRS
+    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_BINDIR}"
+    LIB_DIRS
+    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}"
+    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}/scenario/plugins"
+    "${EXTRA_RPATH_DIRS}"
+    INSTALL_NAME_DIR
+    "${CMAKE_INSTALL_PREFIX}/${SCENARIO_INSTALL_LIBDIR}"
+    DEPENDS ENABLE_RPATH
+    USE_LINK_PATH)
+
+# Find a supported Ignition distribution
+if(NOT IGNITION_DISTRIBUTION)
+
+    include(FindIgnitionDistribution)
+    set(SUPPORTED_IGNITION_DISTRIBUTIONS "Edifice" "Dome" "Citadel")
+
+    foreach(distribution IN LISTS SUPPORTED_IGNITION_DISTRIBUTIONS)
+
+        find_ignition_distribution(
+            CODENAME ${distribution}
+            PACKAGES
+            ignition-gazebo
+            REQUIRED FALSE)
+
+        if(${${distribution}_FOUND})
+            message(STATUS "Found Ignition ${distribution}")
+
+            # Select Ignition distribution
+            set(IGNITION_DISTRIBUTION "${distribution}" CACHE
+                STRING "The Ignition distribution found in the system")
+            set_property(CACHE IGNITION_DISTRIBUTION PROPERTY
+                STRINGS ${SUPPORTED_IGNITION_DISTRIBUTIONS})
+
+            break()
+        endif()
+
+    endforeach()
+
+endif()
+
+if(NOT IGNITION_DISTRIBUTION OR "${IGNITION_DISTRIBUTION}" STREQUAL "")
+    set(USE_IGNITION FALSE)
+else()
+    set(USE_IGNITION TRUE)
+endif()
+
+option(SCENARIO_USE_IGNITION
+       "Build C++ code depending on Ignition"
+       ${USE_IGNITION})
+
+# Fail if Ignition is enabled but no compatible distribution was found
+if(SCENARIO_USE_IGNITION AND "${IGNITION_DISTRIBUTION}" STREQUAL "")
+    message(FATAL_ERROR "Failed to find a compatible Ignition Gazebo distribution")
+endif()
+
+# Alias the targets
 if(SCENARIO_USE_IGNITION)
+    include(ImportTargets${IGNITION_DISTRIBUTION})
+endif()
 
-    option(ENABLE_PROFILER "Enable Ignition Profiler" OFF)
-    mark_as_advanced(ENABLE_PROFILER)
+# Helper for exporting targets
+include(InstallBasicPackageFiles)
 
-    add_subdirectory(gazebo)
-    add_subdirectory(plugins)
-    add_subdirectory(controllers)
+# =========
+# SCENARI/O
+# =========
 
-    list(APPEND SCENARIO_COMPONENTS ScenarioGazebo ScenarioControllers)
+add_subdirectory(src)
 
+# ========
+# BINDINGS
+# ========
+
+# Require to find Ignition libraries when packaging for PyPI
+if(CMAKE_BUILD_TYPE STREQUAL "PyPI" AND NOT USE_IGNITION)
+    message(FATAL_ERROR "Found no Ignition distribution for PyPI package")
 endif()
 
-# Dummy meta target for the top-level EXPORT
-add_library(Scenario INTERFACE)
+find_package(SWIG 4.0 QUIET)
+option(SCENARIO_ENABLE_BINDINGS "Enable SWIG bindings" ${SWIG_FOUND})
 
-install(
-    TARGETS Scenario
-    EXPORT ScenarioExport)
+if(SCENARIO_ENABLE_BINDINGS)
+    add_subdirectory(bindings)
+endif()
 
-install_basic_package_files(Scenario
-    VERSION ${PROJECT_VERSION}
-    COMPATIBILITY AnyNewerVersion
-    EXPORT ScenarioExport
-    DEPENDENCIES ${SCENARIO_COMPONENTS}
-    PRIVATE_DEPENDENCIES ${SCENARIO_PRIVATE_DEPENDENCIES}
-    NAMESPACE Scenario::
-    NO_CHECK_REQUIRED_COMPONENTS_MACRO
-    INSTALL_DESTINATION
-    ${SCENARIO_INSTALL_LIBDIR}/cmake/Scenario)
+# Add unistall target
+include(AddUninstallTarget)
diff --git a/bindings/CMakeLists.txt b/scenario/bindings/CMakeLists.txt
similarity index 100%
rename from bindings/CMakeLists.txt
rename to scenario/bindings/CMakeLists.txt
diff --git a/bindings/__init__.py b/scenario/bindings/__init__.py
similarity index 100%
rename from bindings/__init__.py
rename to scenario/bindings/__init__.py
diff --git a/bindings/core/CMakeLists.txt b/scenario/bindings/core/CMakeLists.txt
similarity index 100%
rename from bindings/core/CMakeLists.txt
rename to scenario/bindings/core/CMakeLists.txt
diff --git a/bindings/core/core.i b/scenario/bindings/core/core.i
similarity index 100%
rename from bindings/core/core.i
rename to scenario/bindings/core/core.i
diff --git a/bindings/gazebo/CMakeLists.txt b/scenario/bindings/gazebo/CMakeLists.txt
similarity index 100%
rename from bindings/gazebo/CMakeLists.txt
rename to scenario/bindings/gazebo/CMakeLists.txt
diff --git a/bindings/gazebo/gazebo.i b/scenario/bindings/gazebo/gazebo.i
similarity index 100%
rename from bindings/gazebo/gazebo.i
rename to scenario/bindings/gazebo/gazebo.i
diff --git a/bindings/gazebo/to_gazebo.i b/scenario/bindings/gazebo/to_gazebo.i
similarity index 100%
rename from bindings/gazebo/to_gazebo.i
rename to scenario/bindings/gazebo/to_gazebo.i
diff --git a/cmake/AddNewBuildMode.cmake b/scenario/cmake/AddNewBuildMode.cmake
similarity index 100%
rename from cmake/AddNewBuildMode.cmake
rename to scenario/cmake/AddNewBuildMode.cmake
diff --git a/scenario/cmake/AddUninstallTarget.cmake b/scenario/cmake/AddUninstallTarget.cmake
new file mode 100644
index 000000000..4012104f2
--- /dev/null
+++ b/scenario/cmake/AddUninstallTarget.cmake
@@ -0,0 +1,102 @@
+#.rst:
+# AddUninstallTarget
+# ------------------
+#
+# Add the "uninstall" target for your project::
+#
+#   include(AddUninstallTarget)
+#
+#
+# will create a file ``cmake_uninstall.cmake`` in the build directory and add a
+# custom target ``uninstall`` (or ``UNINSTALL`` on Visual Studio and Xcode) that
+# will remove the files installed by your package (using
+# ``install_manifest.txt``).
+# See also
+# https://gitlab.kitware.com/cmake/community/wikis/FAQ#can-i-do-make-uninstall-with-cmake
+#
+# The :module:`AddUninstallTarget` module must be included in your main
+# ``CMakeLists.txt``. If included in a subdirectory it does nothing.
+# This allows you to use it safely in your main ``CMakeLists.txt`` and include
+# your project using ``add_subdirectory`` (for example when using it with
+# :cmake:module:`FetchContent`).
+#
+# If the ``uninstall`` target already exists, the module does nothing.
+
+#=============================================================================
+# Copyright 2008-2013 Kitware, Inc.
+# Copyright 2013 Istituto Italiano di Tecnologia (IIT)
+#   Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it>
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of CMake, substitute the full
+#  License text for the above reference.)
+
+
+# AddUninstallTarget works only when included in the main CMakeLists.txt
+if(NOT "${CMAKE_CURRENT_BINARY_DIR}" STREQUAL "${CMAKE_BINARY_DIR}")
+  return()
+endif()
+
+# The name of the target is uppercase in MSVC and Xcode (for coherence with the
+# other standard targets)
+if("${CMAKE_GENERATOR}" MATCHES "^(Visual Studio|Xcode)")
+  set(_uninstall "UNINSTALL")
+else()
+  set(_uninstall "uninstall")
+endif()
+
+# If target is already defined don't do anything
+if(TARGET ${_uninstall})
+  return()
+endif()
+
+
+set(_filename cmake_uninstall.cmake)
+
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/${_filename}"
+"if(NOT EXISTS \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\")
+  message(WARNING \"Cannot find install manifest: \\\"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\\\"\")
+  return()
+endif()
+file(READ \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\" files)
+string(STRIP \"\${files}\" files)
+string(REGEX REPLACE \"\\n\" \";\" files \"\${files}\")
+list(REVERSE files)
+foreach(file \${files})
+  if(IS_SYMLINK \"\$ENV{DESTDIR}\${file}\" OR EXISTS \"\$ENV{DESTDIR}\${file}\")
+    message(STATUS \"Uninstalling: \$ENV{DESTDIR}\${file}\")
+    execute_process(
+      COMMAND \${CMAKE_COMMAND} -E remove \"\$ENV{DESTDIR}\${file}\"
+      OUTPUT_VARIABLE rm_out
+      RESULT_VARIABLE rm_retval)
+    if(NOT \"\${rm_retval}\" EQUAL 0)
+      message(FATAL_ERROR \"Problem when removing \\\"\$ENV{DESTDIR}\${file}\\\"\")
+    endif()
+  else()
+    message(STATUS \"Not-found: \$ENV{DESTDIR}\${file}\")
+  endif()
+endforeach(file)
+")
+
+set(_desc "Uninstall the project...")
+if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
+  set(_comment COMMAND \$\(CMAKE_COMMAND\) -E cmake_echo_color --switch=$\(COLOR\) --cyan "${_desc}")
+else()
+  set(_comment COMMENT "${_desc}")
+endif()
+add_custom_target(${_uninstall}
+                  ${_comment}
+                  COMMAND ${CMAKE_COMMAND} -P ${_filename}
+                  USES_TERMINAL
+                  BYPRODUCTS uninstall_byproduct
+                  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
+set_property(SOURCE uninstall_byproduct PROPERTY SYMBOLIC 1)
+
+set_property(TARGET ${_uninstall} PROPERTY FOLDER "CMakePredefinedTargets")
+
diff --git a/cmake/AliasImportedTarget.cmake b/scenario/cmake/AliasImportedTarget.cmake
similarity index 100%
rename from cmake/AliasImportedTarget.cmake
rename to scenario/cmake/AliasImportedTarget.cmake
diff --git a/cmake/FindIgnitionDistribution.cmake b/scenario/cmake/FindIgnitionDistribution.cmake
similarity index 100%
rename from cmake/FindIgnitionDistribution.cmake
rename to scenario/cmake/FindIgnitionDistribution.cmake
diff --git a/cmake/FindPython/Support.cmake b/scenario/cmake/FindPython/Support.cmake
similarity index 100%
rename from cmake/FindPython/Support.cmake
rename to scenario/cmake/FindPython/Support.cmake
diff --git a/cmake/FindPython3.cmake b/scenario/cmake/FindPython3.cmake
similarity index 100%
rename from cmake/FindPython3.cmake
rename to scenario/cmake/FindPython3.cmake
diff --git a/cmake/FindSphinx.cmake b/scenario/cmake/FindSphinx.cmake
similarity index 100%
rename from cmake/FindSphinx.cmake
rename to scenario/cmake/FindSphinx.cmake
diff --git a/cmake/FindSphinxApidoc.cmake b/scenario/cmake/FindSphinxApidoc.cmake
similarity index 100%
rename from cmake/FindSphinxApidoc.cmake
rename to scenario/cmake/FindSphinxApidoc.cmake
diff --git a/cmake/FindSphinxMultiVersion.cmake b/scenario/cmake/FindSphinxMultiVersion.cmake
similarity index 100%
rename from cmake/FindSphinxMultiVersion.cmake
rename to scenario/cmake/FindSphinxMultiVersion.cmake
diff --git a/cmake/ImportTargetsCitadel.cmake b/scenario/cmake/ImportTargetsCitadel.cmake
similarity index 100%
rename from cmake/ImportTargetsCitadel.cmake
rename to scenario/cmake/ImportTargetsCitadel.cmake
diff --git a/cmake/ImportTargetsDome.cmake b/scenario/cmake/ImportTargetsDome.cmake
similarity index 100%
rename from cmake/ImportTargetsDome.cmake
rename to scenario/cmake/ImportTargetsDome.cmake
diff --git a/cmake/ImportTargetsEdifice.cmake b/scenario/cmake/ImportTargetsEdifice.cmake
similarity index 100%
rename from cmake/ImportTargetsEdifice.cmake
rename to scenario/cmake/ImportTargetsEdifice.cmake
diff --git a/deps/CMakeLists.txt b/scenario/deps/CMakeLists.txt
similarity index 100%
rename from deps/CMakeLists.txt
rename to scenario/deps/CMakeLists.txt
diff --git a/deps/clara/clara.hpp b/scenario/deps/clara/clara.hpp
similarity index 100%
rename from deps/clara/clara.hpp
rename to scenario/deps/clara/clara.hpp
diff --git a/scenario/setup.py b/scenario/setup.py
index 9964dd859..ce8b54661 100644
--- a/scenario/setup.py
+++ b/scenario/setup.py
@@ -51,7 +51,6 @@
     ],
     python_requires=">=3.0",
     ext_modules=[CMakeExtension(name="ScenarioCMakeProject",
-                                source_dir=str(this_directory.parent),
                                 install_prefix="scenario",
                                 cmake_build_type="PyPI",
                                 cmake_depends_on=["idyntree"],
diff --git a/scenario/src/CMakeLists.txt b/scenario/src/CMakeLists.txt
new file mode 100644
index 000000000..7721c9f77
--- /dev/null
+++ b/scenario/src/CMakeLists.txt
@@ -0,0 +1,39 @@
+# Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+add_subdirectory(core)
+
+set(SCENARIO_COMPONENTS ScenarioCore)
+set(SCENARIO_PRIVATE_DEPENDENCIES "")
+
+if(SCENARIO_USE_IGNITION)
+
+    option(ENABLE_PROFILER "Enable Ignition Profiler" OFF)
+    mark_as_advanced(ENABLE_PROFILER)
+
+    add_subdirectory(gazebo)
+    add_subdirectory(plugins)
+    add_subdirectory(controllers)
+
+    list(APPEND SCENARIO_COMPONENTS ScenarioGazebo ScenarioControllers)
+
+endif()
+
+# Dummy meta target for the top-level EXPORT
+add_library(Scenario INTERFACE)
+
+install(
+    TARGETS Scenario
+    EXPORT ScenarioExport)
+
+install_basic_package_files(Scenario
+    VERSION ${PROJECT_VERSION}
+    COMPATIBILITY AnyNewerVersion
+    EXPORT ScenarioExport
+    DEPENDENCIES ${SCENARIO_COMPONENTS}
+    PRIVATE_DEPENDENCIES ${SCENARIO_PRIVATE_DEPENDENCIES}
+    NAMESPACE Scenario::
+    NO_CHECK_REQUIRED_COMPONENTS_MACRO
+    INSTALL_DESTINATION
+    ${SCENARIO_INSTALL_LIBDIR}/cmake/Scenario)
diff --git a/scenario/controllers/CMakeLists.txt b/scenario/src/controllers/CMakeLists.txt
similarity index 100%
rename from scenario/controllers/CMakeLists.txt
rename to scenario/src/controllers/CMakeLists.txt
diff --git a/scenario/controllers/include/scenario/controllers/ComputedTorqueFixedBase.h b/scenario/src/controllers/include/scenario/controllers/ComputedTorqueFixedBase.h
similarity index 100%
rename from scenario/controllers/include/scenario/controllers/ComputedTorqueFixedBase.h
rename to scenario/src/controllers/include/scenario/controllers/ComputedTorqueFixedBase.h
diff --git a/scenario/controllers/include/scenario/controllers/Controller.h b/scenario/src/controllers/include/scenario/controllers/Controller.h
similarity index 100%
rename from scenario/controllers/include/scenario/controllers/Controller.h
rename to scenario/src/controllers/include/scenario/controllers/Controller.h
diff --git a/scenario/controllers/include/scenario/controllers/References.h b/scenario/src/controllers/include/scenario/controllers/References.h
similarity index 100%
rename from scenario/controllers/include/scenario/controllers/References.h
rename to scenario/src/controllers/include/scenario/controllers/References.h
diff --git a/scenario/controllers/src/ComputedTorqueFixedBase.cpp b/scenario/src/controllers/src/ComputedTorqueFixedBase.cpp
similarity index 100%
rename from scenario/controllers/src/ComputedTorqueFixedBase.cpp
rename to scenario/src/controllers/src/ComputedTorqueFixedBase.cpp
diff --git a/scenario/core/CMakeLists.txt b/scenario/src/core/CMakeLists.txt
similarity index 100%
rename from scenario/core/CMakeLists.txt
rename to scenario/src/core/CMakeLists.txt
diff --git a/scenario/core/include/scenario/core/Joint.h b/scenario/src/core/include/scenario/core/Joint.h
similarity index 100%
rename from scenario/core/include/scenario/core/Joint.h
rename to scenario/src/core/include/scenario/core/Joint.h
diff --git a/scenario/core/include/scenario/core/Link.h b/scenario/src/core/include/scenario/core/Link.h
similarity index 100%
rename from scenario/core/include/scenario/core/Link.h
rename to scenario/src/core/include/scenario/core/Link.h
diff --git a/scenario/core/include/scenario/core/Model.h b/scenario/src/core/include/scenario/core/Model.h
similarity index 100%
rename from scenario/core/include/scenario/core/Model.h
rename to scenario/src/core/include/scenario/core/Model.h
diff --git a/scenario/core/include/scenario/core/World.h b/scenario/src/core/include/scenario/core/World.h
similarity index 100%
rename from scenario/core/include/scenario/core/World.h
rename to scenario/src/core/include/scenario/core/World.h
diff --git a/scenario/core/include/scenario/core/utils/Log.h b/scenario/src/core/include/scenario/core/utils/Log.h
similarity index 100%
rename from scenario/core/include/scenario/core/utils/Log.h
rename to scenario/src/core/include/scenario/core/utils/Log.h
diff --git a/scenario/core/include/scenario/core/utils/signals.h b/scenario/src/core/include/scenario/core/utils/signals.h
similarity index 100%
rename from scenario/core/include/scenario/core/utils/signals.h
rename to scenario/src/core/include/scenario/core/utils/signals.h
diff --git a/scenario/core/include/scenario/core/utils/utils.h b/scenario/src/core/include/scenario/core/utils/utils.h
similarity index 100%
rename from scenario/core/include/scenario/core/utils/utils.h
rename to scenario/src/core/include/scenario/core/utils/utils.h
diff --git a/scenario/core/src/signals.cpp b/scenario/src/core/src/signals.cpp
similarity index 100%
rename from scenario/core/src/signals.cpp
rename to scenario/src/core/src/signals.cpp
diff --git a/scenario/core/src/utils.cpp b/scenario/src/core/src/utils.cpp
similarity index 100%
rename from scenario/core/src/utils.cpp
rename to scenario/src/core/src/utils.cpp
diff --git a/scenario/gazebo/CMakeLists.txt b/scenario/src/gazebo/CMakeLists.txt
similarity index 100%
rename from scenario/gazebo/CMakeLists.txt
rename to scenario/src/gazebo/CMakeLists.txt
diff --git a/scenario/gazebo/include/scenario/gazebo/GazeboEntity.h b/scenario/src/gazebo/include/scenario/gazebo/GazeboEntity.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/GazeboEntity.h
rename to scenario/src/gazebo/include/scenario/gazebo/GazeboEntity.h
diff --git a/scenario/gazebo/include/scenario/gazebo/GazeboSimulator.h b/scenario/src/gazebo/include/scenario/gazebo/GazeboSimulator.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/GazeboSimulator.h
rename to scenario/src/gazebo/include/scenario/gazebo/GazeboSimulator.h
diff --git a/scenario/gazebo/include/scenario/gazebo/Joint.h b/scenario/src/gazebo/include/scenario/gazebo/Joint.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/Joint.h
rename to scenario/src/gazebo/include/scenario/gazebo/Joint.h
diff --git a/scenario/gazebo/include/scenario/gazebo/Link.h b/scenario/src/gazebo/include/scenario/gazebo/Link.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/Link.h
rename to scenario/src/gazebo/include/scenario/gazebo/Link.h
diff --git a/scenario/gazebo/include/scenario/gazebo/Log.h b/scenario/src/gazebo/include/scenario/gazebo/Log.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/Log.h
rename to scenario/src/gazebo/include/scenario/gazebo/Log.h
diff --git a/scenario/gazebo/include/scenario/gazebo/Model.h b/scenario/src/gazebo/include/scenario/gazebo/Model.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/Model.h
rename to scenario/src/gazebo/include/scenario/gazebo/Model.h
diff --git a/scenario/gazebo/include/scenario/gazebo/World.h b/scenario/src/gazebo/include/scenario/gazebo/World.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/World.h
rename to scenario/src/gazebo/include/scenario/gazebo/World.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/BasePoseTarget.h b/scenario/src/gazebo/include/scenario/gazebo/components/BasePoseTarget.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/BasePoseTarget.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/BasePoseTarget.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/BaseWorldAccelerationTarget.h b/scenario/src/gazebo/include/scenario/gazebo/components/BaseWorldAccelerationTarget.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/BaseWorldAccelerationTarget.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/BaseWorldAccelerationTarget.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/BaseWorldVelocityTarget.h b/scenario/src/gazebo/include/scenario/gazebo/components/BaseWorldVelocityTarget.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/BaseWorldVelocityTarget.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/BaseWorldVelocityTarget.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/ExternalWorldWrenchCmdWithDuration.h b/scenario/src/gazebo/include/scenario/gazebo/components/ExternalWorldWrenchCmdWithDuration.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/ExternalWorldWrenchCmdWithDuration.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/ExternalWorldWrenchCmdWithDuration.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/HistoryOfAppliedJointForces.h b/scenario/src/gazebo/include/scenario/gazebo/components/HistoryOfAppliedJointForces.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/HistoryOfAppliedJointForces.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/HistoryOfAppliedJointForces.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/JointAcceleration.h b/scenario/src/gazebo/include/scenario/gazebo/components/JointAcceleration.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/JointAcceleration.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/JointAcceleration.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/JointAccelerationTarget.h b/scenario/src/gazebo/include/scenario/gazebo/components/JointAccelerationTarget.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/JointAccelerationTarget.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/JointAccelerationTarget.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/JointControlMode.h b/scenario/src/gazebo/include/scenario/gazebo/components/JointControlMode.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/JointControlMode.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/JointControlMode.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/JointController.h b/scenario/src/gazebo/include/scenario/gazebo/components/JointController.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/JointController.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/JointController.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/JointControllerPeriod.h b/scenario/src/gazebo/include/scenario/gazebo/components/JointControllerPeriod.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/JointControllerPeriod.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/JointControllerPeriod.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/JointPID.h b/scenario/src/gazebo/include/scenario/gazebo/components/JointPID.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/JointPID.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/JointPID.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/JointPositionTarget.h b/scenario/src/gazebo/include/scenario/gazebo/components/JointPositionTarget.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/JointPositionTarget.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/JointPositionTarget.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/JointVelocityTarget.h b/scenario/src/gazebo/include/scenario/gazebo/components/JointVelocityTarget.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/JointVelocityTarget.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/JointVelocityTarget.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/SimulatedTime.h b/scenario/src/gazebo/include/scenario/gazebo/components/SimulatedTime.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/SimulatedTime.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/SimulatedTime.h
diff --git a/scenario/gazebo/include/scenario/gazebo/components/Timestamp.h b/scenario/src/gazebo/include/scenario/gazebo/components/Timestamp.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/components/Timestamp.h
rename to scenario/src/gazebo/include/scenario/gazebo/components/Timestamp.h
diff --git a/scenario/gazebo/include/scenario/gazebo/exceptions.h b/scenario/src/gazebo/include/scenario/gazebo/exceptions.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/exceptions.h
rename to scenario/src/gazebo/include/scenario/gazebo/exceptions.h
diff --git a/scenario/gazebo/include/scenario/gazebo/helpers.h b/scenario/src/gazebo/include/scenario/gazebo/helpers.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/helpers.h
rename to scenario/src/gazebo/include/scenario/gazebo/helpers.h
diff --git a/scenario/gazebo/include/scenario/gazebo/utils.h b/scenario/src/gazebo/include/scenario/gazebo/utils.h
similarity index 100%
rename from scenario/gazebo/include/scenario/gazebo/utils.h
rename to scenario/src/gazebo/include/scenario/gazebo/utils.h
diff --git a/scenario/gazebo/src/GazeboSimulator.cpp b/scenario/src/gazebo/src/GazeboSimulator.cpp
similarity index 100%
rename from scenario/gazebo/src/GazeboSimulator.cpp
rename to scenario/src/gazebo/src/GazeboSimulator.cpp
diff --git a/scenario/gazebo/src/Joint.cpp b/scenario/src/gazebo/src/Joint.cpp
similarity index 100%
rename from scenario/gazebo/src/Joint.cpp
rename to scenario/src/gazebo/src/Joint.cpp
diff --git a/scenario/gazebo/src/Link.cpp b/scenario/src/gazebo/src/Link.cpp
similarity index 100%
rename from scenario/gazebo/src/Link.cpp
rename to scenario/src/gazebo/src/Link.cpp
diff --git a/scenario/gazebo/src/Model.cpp b/scenario/src/gazebo/src/Model.cpp
similarity index 100%
rename from scenario/gazebo/src/Model.cpp
rename to scenario/src/gazebo/src/Model.cpp
diff --git a/scenario/gazebo/src/World.cpp b/scenario/src/gazebo/src/World.cpp
similarity index 100%
rename from scenario/gazebo/src/World.cpp
rename to scenario/src/gazebo/src/World.cpp
diff --git a/scenario/gazebo/src/helpers.cpp b/scenario/src/gazebo/src/helpers.cpp
similarity index 100%
rename from scenario/gazebo/src/helpers.cpp
rename to scenario/src/gazebo/src/helpers.cpp
diff --git a/scenario/gazebo/src/utils.cpp b/scenario/src/gazebo/src/utils.cpp
similarity index 100%
rename from scenario/gazebo/src/utils.cpp
rename to scenario/src/gazebo/src/utils.cpp
diff --git a/scenario/plugins/CMakeLists.txt b/scenario/src/plugins/CMakeLists.txt
similarity index 100%
rename from scenario/plugins/CMakeLists.txt
rename to scenario/src/plugins/CMakeLists.txt
diff --git a/scenario/plugins/ControllerRunner/CMakeLists.txt b/scenario/src/plugins/ControllerRunner/CMakeLists.txt
similarity index 100%
rename from scenario/plugins/ControllerRunner/CMakeLists.txt
rename to scenario/src/plugins/ControllerRunner/CMakeLists.txt
diff --git a/scenario/plugins/ControllerRunner/ControllerRunner.cpp b/scenario/src/plugins/ControllerRunner/ControllerRunner.cpp
similarity index 100%
rename from scenario/plugins/ControllerRunner/ControllerRunner.cpp
rename to scenario/src/plugins/ControllerRunner/ControllerRunner.cpp
diff --git a/scenario/plugins/ControllerRunner/ControllerRunner.h b/scenario/src/plugins/ControllerRunner/ControllerRunner.h
similarity index 100%
rename from scenario/plugins/ControllerRunner/ControllerRunner.h
rename to scenario/src/plugins/ControllerRunner/ControllerRunner.h
diff --git a/scenario/plugins/ControllerRunner/ControllersFactory.cpp b/scenario/src/plugins/ControllerRunner/ControllersFactory.cpp
similarity index 100%
rename from scenario/plugins/ControllerRunner/ControllersFactory.cpp
rename to scenario/src/plugins/ControllerRunner/ControllersFactory.cpp
diff --git a/scenario/plugins/ControllerRunner/ControllersFactory.h b/scenario/src/plugins/ControllerRunner/ControllersFactory.h
similarity index 100%
rename from scenario/plugins/ControllerRunner/ControllersFactory.h
rename to scenario/src/plugins/ControllerRunner/ControllersFactory.h
diff --git a/scenario/plugins/ECMProvider/CMakeLists.txt b/scenario/src/plugins/ECMProvider/CMakeLists.txt
similarity index 100%
rename from scenario/plugins/ECMProvider/CMakeLists.txt
rename to scenario/src/plugins/ECMProvider/CMakeLists.txt
diff --git a/scenario/plugins/ECMProvider/ECMProvider.cpp b/scenario/src/plugins/ECMProvider/ECMProvider.cpp
similarity index 100%
rename from scenario/plugins/ECMProvider/ECMProvider.cpp
rename to scenario/src/plugins/ECMProvider/ECMProvider.cpp
diff --git a/scenario/plugins/ECMProvider/ECMSingleton.cpp b/scenario/src/plugins/ECMProvider/ECMSingleton.cpp
similarity index 100%
rename from scenario/plugins/ECMProvider/ECMSingleton.cpp
rename to scenario/src/plugins/ECMProvider/ECMSingleton.cpp
diff --git a/scenario/plugins/ECMProvider/include/scenario/plugins/gazebo/ECMProvider.h b/scenario/src/plugins/ECMProvider/include/scenario/plugins/gazebo/ECMProvider.h
similarity index 100%
rename from scenario/plugins/ECMProvider/include/scenario/plugins/gazebo/ECMProvider.h
rename to scenario/src/plugins/ECMProvider/include/scenario/plugins/gazebo/ECMProvider.h
diff --git a/scenario/plugins/ECMProvider/include/scenario/plugins/gazebo/ECMSingleton.h b/scenario/src/plugins/ECMProvider/include/scenario/plugins/gazebo/ECMSingleton.h
similarity index 100%
rename from scenario/plugins/ECMProvider/include/scenario/plugins/gazebo/ECMSingleton.h
rename to scenario/src/plugins/ECMProvider/include/scenario/plugins/gazebo/ECMSingleton.h
diff --git a/scenario/plugins/JointController/CMakeLists.txt b/scenario/src/plugins/JointController/CMakeLists.txt
similarity index 100%
rename from scenario/plugins/JointController/CMakeLists.txt
rename to scenario/src/plugins/JointController/CMakeLists.txt
diff --git a/scenario/plugins/JointController/JointController.cpp b/scenario/src/plugins/JointController/JointController.cpp
similarity index 100%
rename from scenario/plugins/JointController/JointController.cpp
rename to scenario/src/plugins/JointController/JointController.cpp
diff --git a/scenario/plugins/JointController/JointController.h b/scenario/src/plugins/JointController/JointController.h
similarity index 100%
rename from scenario/plugins/JointController/JointController.h
rename to scenario/src/plugins/JointController/JointController.h
diff --git a/scenario/plugins/Physics/CMakeLists.txt b/scenario/src/plugins/Physics/CMakeLists.txt
similarity index 100%
rename from scenario/plugins/Physics/CMakeLists.txt
rename to scenario/src/plugins/Physics/CMakeLists.txt
diff --git a/scenario/plugins/Physics/EntityFeatureMap.hh b/scenario/src/plugins/Physics/EntityFeatureMap.hh
similarity index 100%
rename from scenario/plugins/Physics/EntityFeatureMap.hh
rename to scenario/src/plugins/Physics/EntityFeatureMap.hh
diff --git a/scenario/plugins/Physics/Physics.cc b/scenario/src/plugins/Physics/Physics.cc
similarity index 100%
rename from scenario/plugins/Physics/Physics.cc
rename to scenario/src/plugins/Physics/Physics.cc
diff --git a/scenario/plugins/Physics/Physics.hh b/scenario/src/plugins/Physics/Physics.hh
similarity index 100%
rename from scenario/plugins/Physics/Physics.hh
rename to scenario/src/plugins/Physics/Physics.hh