diff --git a/esp32/include/kinematics.h b/esp32/include/kinematics.h
index f27a3fd..953fafd 100644
--- a/esp32/include/kinematics.h
+++ b/esp32/include/kinematics.h
@@ -2,7 +2,7 @@
 #define Kinematics_h
 
 #include <utils/math_utils.h>
-#include <gait/kinematic_constraints.h>
+#include <motion_states/kinematic_constraints.h>
 
 struct alignas(16) body_state_t {
     float omega {0}, phi {0}, psi {0}, xm {0}, ym {KinConfig::default_body_height}, zm {0};
diff --git a/esp32/include/motion.h b/esp32/include/motion.h
index 15c91d1..f0e5f5b 100644
--- a/esp32/include/motion.h
+++ b/esp32/include/motion.h
@@ -7,11 +7,11 @@
 #include <utils/timing.h>
 #include <utils/math_utils.h>
 
-#include <gait/state.h>
-#include <gait/walk_state.h>
-#include <gait/stand_state.h>
-#include <gait/rest_state.h>
-#include <gait/kinematic_constraints.h>
+#include <motion_states/state.h>
+#include <motion_states/walk_state.h>
+#include <motion_states/stand_state.h>
+#include <motion_states/rest_state.h>
+#include <motion_states/kinematic_constraints.h>
 #include <message_types.h>
 
 #define DEFAULT_STATE false
diff --git a/esp32/include/gait/kinematic_constraints.h b/esp32/include/motion_states/kinematic_constraints.h
similarity index 100%
rename from esp32/include/gait/kinematic_constraints.h
rename to esp32/include/motion_states/kinematic_constraints.h
diff --git a/esp32/include/gait/rest_state.h b/esp32/include/motion_states/rest_state.h
similarity index 94%
rename from esp32/include/gait/rest_state.h
rename to esp32/include/motion_states/rest_state.h
index 89d76d1..e0665d7 100644
--- a/esp32/include/gait/rest_state.h
+++ b/esp32/include/motion_states/rest_state.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <gait/state.h>
+#include <motion_states/state.h>
 
 class RestState : public MotionState {
   protected:
diff --git a/esp32/include/gait/stand_state.h b/esp32/include/motion_states/stand_state.h
similarity index 97%
rename from esp32/include/gait/stand_state.h
rename to esp32/include/motion_states/stand_state.h
index 2ab473f..b9eb8ba 100644
--- a/esp32/include/gait/stand_state.h
+++ b/esp32/include/motion_states/stand_state.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <gait/state.h>
+#include <motion_states/state.h>
 
 class StandState : public MotionState {
   protected:
diff --git a/esp32/include/gait/state.h b/esp32/include/motion_states/state.h
similarity index 96%
rename from esp32/include/gait/state.h
rename to esp32/include/motion_states/state.h
index 99cc80d..432f3a0 100644
--- a/esp32/include/gait/state.h
+++ b/esp32/include/motion_states/state.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <kinematics.h>
-#include <gait/kinematic_constraints.h>
+#include <motion_states/kinematic_constraints.h>
 #include <message_types.h>
 
 class MotionState {
diff --git a/esp32/include/gait/walk_state.h b/esp32/include/motion_states/walk_state.h
similarity index 99%
rename from esp32/include/gait/walk_state.h
rename to esp32/include/motion_states/walk_state.h
index cf97bb8..e7db1ec 100644
--- a/esp32/include/gait/walk_state.h
+++ b/esp32/include/motion_states/walk_state.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <gait/state.h>
+#include <motion_states/state.h>
 #include <utils/math_utils.h>
 #include <array>
 #include <functional>