diff --git a/code_generation/robot_config.cpp.template b/code_generation/robot_config.cpp.template
index cc8e508..408c790 100644
--- a/code_generation/robot_config.cpp.template
+++ b/code_generation/robot_config.cpp.template
@@ -219,7 +219,7 @@ namespace fast_fk::internal {
 }
 
 #ifdef FAST_FK_USE_IK
-#include "fast_inverse_kinematics.hpp"
+#include "fast_inverse_kinematics/fast_inverse_kinematics.hpp"
 
 namespace fast_fk::internal {
     constexpr float axis_scale = 1;
diff --git a/include/fast_inverse_kinematics.hpp b/include/fast_inverse_kinematics/fast_inverse_kinematics.hpp
similarity index 100%
rename from include/fast_inverse_kinematics.hpp
rename to include/fast_inverse_kinematics/fast_inverse_kinematics.hpp
diff --git a/include/fast_kinematics.hpp b/include/fast_inverse_kinematics/fast_kinematics.hpp
similarity index 100%
rename from include/fast_kinematics.hpp
rename to include/fast_inverse_kinematics/fast_kinematics.hpp
diff --git a/include/kinematics_interface.hpp b/include/fast_inverse_kinematics/kinematics_interface.hpp
similarity index 100%
rename from include/kinematics_interface.hpp
rename to include/fast_inverse_kinematics/kinematics_interface.hpp
diff --git a/test/forward_kinematics_test.cpp b/test/forward_kinematics_test.cpp
index 161dde7..bb228b5 100644
--- a/test/forward_kinematics_test.cpp
+++ b/test/forward_kinematics_test.cpp
@@ -3,7 +3,7 @@
 
 #ifdef USE_FAST_KINEMATICS
 
-#include "fast_kinematics.hpp"
+#include "fast_inverse_kinematics/fast_kinematics.hpp"
 
 using KI = fast_fk::JointData;
 #else
diff --git a/test/inverse_kinematics_test.cpp b/test/inverse_kinematics_test.cpp
index 4fc67a8..e8b6da2 100644
--- a/test/inverse_kinematics_test.cpp
+++ b/test/inverse_kinematics_test.cpp
@@ -2,7 +2,7 @@
 #include "iostream"
 
 #ifdef USE_FAST_KINEMATICS
-#include "fast_kinematics.hpp"
+#include "fast_inverse_kinematics/fast_kinematics.hpp"
 using IK = fast_fk::JointData;
 #else