diff --git a/VirtualRobot/examples/MjcfConverter/CMakeLists.txt b/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
index 99f12311b55eb41863fb14c1e59007f2fc2a3fa6..73fa315aabafb627dfa6d5ad6f0eda02a954ff9b 100644
--- a/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
+++ b/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
@@ -10,23 +10,23 @@ if (Boost_FOUND)
 
     set(SOURCES
         main.cpp
-        exceptions.cpp
-        utils.cpp
-        xml_visitors.cpp
-        
         MjcfConverter.cpp
-        MjcfDocument.cpp
-        MjcfMasslessBodySanitizer.cpp
+        
+        mjcf/exceptions.cpp
+        mjcf/utils.cpp
+        mjcf/xml_visitors.cpp
+        mjcf/MjcfDocument.cpp
+        mjcf/MjcfMasslessBodySanitizer.cpp
     )
     
     set(HEADERS
-        exceptions.h
-        utils.h
-        xml_visitors.h
-        
         MjcfConverter.h
-        MjcfDocument.h
-        MjcfMasslessBodySanitizer.h
+        
+        mjcf/exceptions.h
+        mjcf/utils.h
+        mjcf/xml_visitors.h
+        mjcf/MjcfDocument.h
+        mjcf/MjcfMasslessBodySanitizer.h
     )
 
     set(LIBS
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfDocument.cpp b/VirtualRobot/examples/MjcfConverter/mjcf/MjcfDocument.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/MjcfDocument.cpp
rename to VirtualRobot/examples/MjcfConverter/mjcf/MjcfDocument.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfDocument.h b/VirtualRobot/examples/MjcfConverter/mjcf/MjcfDocument.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/MjcfDocument.h
rename to VirtualRobot/examples/MjcfConverter/mjcf/MjcfDocument.h
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfMasslessBodySanitizer.cpp b/VirtualRobot/examples/MjcfConverter/mjcf/MjcfMasslessBodySanitizer.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/MjcfMasslessBodySanitizer.cpp
rename to VirtualRobot/examples/MjcfConverter/mjcf/MjcfMasslessBodySanitizer.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfMasslessBodySanitizer.h b/VirtualRobot/examples/MjcfConverter/mjcf/MjcfMasslessBodySanitizer.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/MjcfMasslessBodySanitizer.h
rename to VirtualRobot/examples/MjcfConverter/mjcf/MjcfMasslessBodySanitizer.h
diff --git a/VirtualRobot/examples/MjcfConverter/exceptions.cpp b/VirtualRobot/examples/MjcfConverter/mjcf/exceptions.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/exceptions.cpp
rename to VirtualRobot/examples/MjcfConverter/mjcf/exceptions.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/exceptions.h b/VirtualRobot/examples/MjcfConverter/mjcf/exceptions.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/exceptions.h
rename to VirtualRobot/examples/MjcfConverter/mjcf/exceptions.h
diff --git a/VirtualRobot/examples/MjcfConverter/utils.cpp b/VirtualRobot/examples/MjcfConverter/mjcf/utils.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/utils.cpp
rename to VirtualRobot/examples/MjcfConverter/mjcf/utils.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/utils.h b/VirtualRobot/examples/MjcfConverter/mjcf/utils.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/utils.h
rename to VirtualRobot/examples/MjcfConverter/mjcf/utils.h
diff --git a/VirtualRobot/examples/MjcfConverter/xml_visitors.cpp b/VirtualRobot/examples/MjcfConverter/mjcf/xml_visitors.cpp
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/xml_visitors.cpp
rename to VirtualRobot/examples/MjcfConverter/mjcf/xml_visitors.cpp
diff --git a/VirtualRobot/examples/MjcfConverter/xml_visitors.h b/VirtualRobot/examples/MjcfConverter/mjcf/xml_visitors.h
similarity index 100%
rename from VirtualRobot/examples/MjcfConverter/xml_visitors.h
rename to VirtualRobot/examples/MjcfConverter/mjcf/xml_visitors.h