diff --git a/cmake/DARTMacros.cmake b/cmake/DARTMacros.cmake
index e721be3c56882..7d0b3994c92e5 100644
--- a/cmake/DARTMacros.cmake
+++ b/cmake/DARTMacros.cmake
@@ -288,3 +288,103 @@ function(dart_build_tutorial_in_source target)
   dart_build_target_in_source(${target} ${ARGN})
   dart_add_tutorial(${target})
 endfunction()
+
+
+# ==============================================================================
+# dart_build_tests()
+#
+function(dart_build_tests)
+  set(prefix _ARG)
+  set(options
+    GLOB_SOURCES
+  )
+  set(oneValueArgs
+    COMPONENT_NAME
+    TARGET_PREFIX
+    TYPE
+  )
+  set(multiValueArgs
+    INCLUDE_DIRS
+    LINK_LIBRARIES
+    SOURCES
+  )
+  cmake_parse_arguments(
+    "${prefix}" "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}
+  )
+
+  if(NOT _ARG_TARGET_PREFIX)
+    set(_ARG_TARGET_PREFIX UNIT)
+  endif()
+
+  if(NOT _ARG_TYPE)
+    message(FATAL_ERROR "TYPE is not set!")
+  endif()
+
+  foreach(dep ${_ARG_LINK_LIBRARIES})
+    if(NOT TARGET ${dep})
+      if(_ARG__ARG_COMPONENT_NAME)
+        message(WARNING "Skipping tests for component [${_ARG_COMPONENT_NAME}] due to missing component target [${dep}]")
+      else()
+        message(WARNING "Skipping tests due to missing component target [${dep}]")
+      endif()
+      return()
+    endif()
+  endforeach()
+
+  # Glob all the test files
+  if(_ARG_GLOB_SOURCES)
+    file(GLOB_RECURSE glob_test_files RELATIVE "${CMAKE_CURRENT_LIST_DIR}" "test_*.cpp")
+    list(APPEND test_files ${glob_test_files})
+  endif()
+  list(APPEND test_files ${_ARG_SOURCES})
+  if(test_files)
+    list(SORT test_files)
+  endif()
+
+  foreach(source ${test_files})
+    # Set target name
+    if(_ARG_TARGET_PREFIX)
+      set(target_name ${_ARG_TARGET_PREFIX}_)
+    else()
+      set(target_name )
+    endif()
+    get_filename_component(source_name ${source} NAME_WE)
+    string(REPLACE "test_" "" source_name ${source_name})
+    get_filename_component(source_dir ${source} DIRECTORY)
+    if(source_dir)
+      string(REPLACE "/" "_" source_prefix ${source_dir})
+      set(target_name "${target_name}${source_prefix}_${source_name}")
+    else()
+      set(target_name "${target_name}${source_name}")
+    endif()
+
+    if(MSVC)
+      add_executable(${target_name} ${source})
+    else()
+      add_executable(${target_name} EXCLUDE_FROM_ALL ${source})
+    endif()
+    add_test(NAME ${target_name} COMMAND $<TARGET_FILE:${target_name}>)
+
+    # Include directories
+    target_include_directories(
+      ${target_name} PRIVATE ${_ARG_INCLUDE_DIRS}
+    )
+
+    # Link libraries
+    target_link_libraries(${target_name} PRIVATE gtest gtest_main)
+    target_link_libraries(
+      ${target_name} PRIVATE ${_ARG_LINK_LIBRARIES}
+    )
+    if(UNIX)
+      # gtest requies pthread when compiled on a Unix machine
+      target_link_libraries(${target_name} PRIVATE pthread)
+    endif()
+
+    # Add the test target to the list
+    dart_property_add(DART_${_ARG_TYPE}_TESTS ${target_name})
+
+  endforeach()
+
+  dart_format_add(${test_files})
+
+endfunction()
diff --git a/python/tests/unit/dynamics/test_meta_skeleton.py b/python/tests/unit/dynamics/test_meta_skeleton.py
index 1965f80f820c4..ccb9f8b1bbe11 100644
--- a/python/tests/unit/dynamics/test_meta_skeleton.py
+++ b/python/tests/unit/dynamics/test_meta_skeleton.py
@@ -3,7 +3,7 @@
 import dartpy as dart
 
 
-# TODO(JS): Move this to comprehensive category once created
+# TODO(JS): Move this to integration category once created
 
 
 def test_basic():
diff --git a/unittests/testKinematics.cpp_ b/unittests/.deprecated/testKinematics.cpp_
similarity index 100%
rename from unittests/testKinematics.cpp_
rename to unittests/.deprecated/testKinematics.cpp_
diff --git a/unittests/testLemke.cpp b/unittests/.deprecated/testLemke.cpp
similarity index 100%
rename from unittests/testLemke.cpp
rename to unittests/.deprecated/testLemke.cpp
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 850352dc8de12..da84843418536 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -74,7 +74,7 @@ endfunction()
 
 #===============================================================================
 # Usage:
-#   dart_get_tests("comprehensive" compreshensive_tests)
+#   dart_get_tests("integration" compreshensive_tests)
 #   foreach(test ${compreshensive_tests})
 #     message(STATUS "Test: ${test})
 #   endforeach()
@@ -87,7 +87,7 @@ endfunction()
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 
 # We categorize tests as:
-# - "comprehensive": high level tests to verify the combination of several
+# - "integration": high level tests to verify the combination of several
 #   components are correctly performs together
 # - "regression": issue wise tests to verify that the GitHub issues are still
 #   fixed even after further changes are made
@@ -95,21 +95,21 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 #   they performs correctly as expected
 if(NOT MSVC)
   # Disabled due to limitied disk space in CI image
-  add_subdirectory(comprehensive)
+  add_subdirectory(integration)
   add_subdirectory(regression)
 endif()
 add_subdirectory(unit)
 
 # Print tests
-dart_get_tests(comprehensive_tests "comprehensive")
+dart_get_tests(integration_tests "integration")
 dart_get_tests(regression_tests "regression")
 dart_get_tests(unit_tests "unit")
 
 if(DART_VERBOSE)
   message(STATUS "")
   message(STATUS "[ Tests ]")
-  foreach(test ${comprehensive_tests})
-    message(STATUS "Adding test: comprehensive/${test}")
+  foreach(test ${integration_tests})
+    message(STATUS "Adding test: integration/${test}")
   endforeach()
   foreach(test ${regression_tests})
     message(STATUS "Adding test: regression/${test}")
@@ -118,15 +118,15 @@ if(DART_VERBOSE)
     message(STATUS "Adding test: unit/${test}")
   endforeach()
 else()
-  list(LENGTH comprehensive_tests comprehensive_tests_len)
+  list(LENGTH integration_tests integration_tests_len)
   list(LENGTH regression_tests regression_tests_len)
   list(LENGTH unit_tests unit_tests_len)
   math(
     EXPR tests_len
-    "${comprehensive_tests_len} + ${regression_tests_len} + ${unit_tests_len}"
+    "${integration_tests_len} + ${regression_tests_len} + ${unit_tests_len}"
   )
   message(STATUS "Adding ${tests_len} tests ("
-      "comprehensive: ${comprehensive_tests_len}, "
+      "integration: ${integration_tests_len}, "
       "regression: ${regression_tests_len}, "
       "unit: ${unit_tests_len}"
       ")"
@@ -136,12 +136,12 @@ endif()
 # Add custom target to build all the tests as a single target
 add_custom_target(
   tests
-  DEPENDS ${comprehensive_tests} ${regression_tests} ${unit_tests}
+  DEPENDS ${integration_tests} ${regression_tests} ${unit_tests}
 )
 
 # Add custom target to build all the tests and run the tests
 add_custom_target(tests_and_run COMMAND ${CMAKE_CTEST_COMMAND}
-  DEPENDS ${comprehensive_tests} ${regression_tests} ${unit_tests}
+  DEPENDS ${integration_tests} ${regression_tests} ${unit_tests}
 )
 
 dart_format_add(GTestUtils.hpp)
diff --git a/unittests/comprehensive/CMakeLists.txt b/unittests/comprehensive/CMakeLists.txt
deleted file mode 100644
index e4b5e06f966a2..0000000000000
--- a/unittests/comprehensive/CMakeLists.txt
+++ /dev/null
@@ -1,72 +0,0 @@
-dart_add_test("comprehensive" test_Building)
-dart_add_test("comprehensive" test_Common)
-dart_add_test("comprehensive" test_Concurrency)
-dart_add_test("comprehensive" test_Constraint)
-dart_add_test("comprehensive" test_Frames)
-dart_add_test("comprehensive" test_Friction)
-dart_add_test("comprehensive" test_InverseKinematics)
-dart_add_test("comprehensive" test_NameManagement)
-
-if(TARGET dart-optimizer-pagmo)
-  dart_add_test("comprehensive" test_MultiObjectiveOptimization)
-  target_link_libraries(test_MultiObjectiveOptimization dart-optimizer-pagmo)
-endif()
-
-dart_add_test("comprehensive" test_Distance)
-if(TARGET dart-collision-bullet)
-  target_link_libraries(test_Distance dart-collision-bullet)
-endif()
-
-dart_add_test("comprehensive" test_Raycast)
-if(TARGET dart-collision-bullet)
-  target_link_libraries(test_Raycast dart-collision-bullet)
-endif()
-
-if(TARGET dart-collision-ode)
-  # This test doesn't work with FCL because it converts simple shapes to meshes, which makes
-  # it difficult to come up with correct test expectations.
-  dart_add_test("comprehensive" test_ForceDependentSlip)
-  target_link_libraries(test_ForceDependentSlip dart-collision-ode)
-endif()
-
-if(TARGET dart-utils)
-
-  dart_add_test("comprehensive" test_Collision)
-  target_link_libraries(test_Collision dart-utils)
-  if(TARGET dart-collision-bullet)
-    target_link_libraries(test_Collision dart-collision-bullet)
-  endif()
-  if(TARGET dart-collision-ode)
-    target_link_libraries(test_Collision dart-collision-ode)
-  endif()
-
-  dart_add_test("comprehensive" test_Dynamics)
-  target_link_libraries(test_Dynamics dart-utils)
-
-  dart_add_test("comprehensive" test_Joints)
-  target_link_libraries(test_Joints dart-utils)
-
-  dart_add_test("comprehensive" test_JointForceTorque)
-  target_link_libraries(test_JointForceTorque dart-utils)
-
-  dart_add_test("comprehensive" test_Skeleton)
-  target_link_libraries(test_Skeleton dart-utils)
-
-  dart_add_test("comprehensive" test_MetaSkeleton)
-  target_link_libraries(test_MetaSkeleton dart-utils)
-
-  dart_add_test("comprehensive" test_SoftDynamics)
-  target_link_libraries(test_SoftDynamics dart-utils)
-
-  dart_add_test("comprehensive" test_World)
-  target_link_libraries(test_World dart-utils)
-  if(TARGET dart-collision-bullet)
-    target_link_libraries(test_World dart-collision-bullet)
-  endif()
-
-  if(TARGET dart-utils-urdf)
-    dart_add_test("comprehensive" test_ForwardKinematics)
-    target_link_libraries(test_ForwardKinematics dart-utils-urdf)
-  endif()
-
-endif()
diff --git a/unittests/integration/CMakeLists.txt b/unittests/integration/CMakeLists.txt
new file mode 100644
index 0000000000000..d5faa53c64041
--- /dev/null
+++ b/unittests/integration/CMakeLists.txt
@@ -0,0 +1,171 @@
+# Copyright (c) 2011-2021, The DART development contributors
+
+dart_build_tests(
+  TYPE integration
+  TARGET_PREFIX INTEGRATION
+  LINK_LIBRARIES dart
+  SOURCES
+    test_Aspect.cpp
+    test_Building.cpp
+    test_Common.cpp
+    test_Concurrency.cpp
+    test_Constraint.cpp
+    test_Frames.cpp
+    test_Friction.cpp
+    test_InverseKinematics.cpp
+    test_NameManagement.cpp
+    test_Signal.cpp
+)
+
+dart_add_test("integration" test_CollisionGroups)
+foreach(collision_engine
+  dart-collision-bullet
+  dart-collision-ode)
+  if(TARGET ${collision_engine})
+    target_link_libraries(test_CollisionGroups ${collision_engine})
+  endif()
+endforeach()
+dart_add_test("integration" test_ContactConstraint)
+dart_add_test("integration" test_GenericJoints)
+dart_add_test("integration" test_Inertia)
+dart_add_test("integration" test_Lemke)
+dart_add_test("integration" test_LocalResourceRetriever)
+dart_add_test("integration" test_Optimizer)
+dart_add_test("integration" test_ScrewJoint)
+dart_add_test("integration" test_Subscriptions)
+
+if(TARGET dart-optimizer-ipopt)
+  target_link_libraries(test_Optimizer dart-optimizer-ipopt)
+endif()
+
+if(TARGET dart-optimizer-nlopt)
+  target_link_libraries(test_Optimizer dart-optimizer-nlopt)
+endif()
+
+if(TARGET dart-utils)
+
+  dart_add_test("integration" test_CompositeResourceRetriever)
+  target_link_libraries(test_CompositeResourceRetriever dart-utils)
+
+  dart_add_test("integration" test_DartResourceRetriever)
+  target_link_libraries(test_DartResourceRetriever dart-utils)
+  
+  dart_add_test("integration" test_FileInfoWorld)
+  target_link_libraries(test_FileInfoWorld dart-utils)
+
+  dart_add_test("integration" test_PackageResourceRetriever)
+  target_link_libraries(test_PackageResourceRetriever dart-utils)
+
+  dart_add_test("integration" test_MjcfParser)
+  target_link_libraries(test_MjcfParser dart-utils)
+  
+  dart_add_test("integration" test_SdfParser)
+  target_link_libraries(test_SdfParser dart-utils)
+  
+  dart_add_test("integration" test_SkelParser)
+  target_link_libraries(test_SkelParser dart-utils)
+
+  if(NOT MSVC) 
+    dart_add_test("integration" test_VskParser)
+    target_link_libraries(test_VskParser dart-utils)
+  endif()
+
+endif()
+
+if(TARGET dart-utils-urdf)
+  if(NOT MSVC)
+    dart_add_test("integration" test_DartLoader)
+    target_link_libraries(test_DartLoader dart-utils-urdf)
+  endif()
+
+  dart_add_library(SharedLibraryWamIkFast SharedLibraryWamIkFast.hpp SharedLibraryWamIkFast.cpp)
+  target_link_libraries(SharedLibraryWamIkFast PUBLIC dart)
+  target_compile_definitions(SharedLibraryWamIkFast PUBLIC IKFAST_NO_MAIN IKFAST_CLIBRARY)
+  target_compile_options(SharedLibraryWamIkFast PRIVATE -w)
+
+  dart_add_library(GeneratedWamIkFast GeneratedWamIkFast.cpp)
+  target_link_libraries(GeneratedWamIkFast PUBLIC dart)
+  target_compile_definitions(GeneratedWamIkFast PUBLIC IKFAST_NO_MAIN IKFAST_CLIBRARY)
+  target_compile_options(GeneratedWamIkFast PRIVATE -w)
+
+  if(BUILD_SHARED_LIBS)
+    dart_add_test("integration" test_IkFast)
+    target_link_libraries(test_IkFast dart-utils-urdf)
+    add_dependencies(test_IkFast GeneratedWamIkFast SharedLibraryWamIkFast)
+  endif()
+endif()
+
+if(TARGET dart-planning)
+  dart_add_test("integration" test_NearestNeighbor)
+  target_link_libraries(test_NearestNeighbor dart-planning)
+endif()
+
+dart_format_add(
+  GeneratedWamIkFast.cpp
+  SharedLibraryWamIkFast.hpp
+  SharedLibraryWamIkFast.cpp
+)
+
+if(TARGET dart-optimizer-pagmo)
+  dart_add_test("integration" test_MultiObjectiveOptimization)
+  target_link_libraries(test_MultiObjectiveOptimization dart-optimizer-pagmo)
+endif()
+
+dart_add_test("integration" test_Distance)
+if(TARGET dart-collision-bullet)
+  target_link_libraries(test_Distance dart-collision-bullet)
+endif()
+
+dart_add_test("integration" test_Raycast)
+if(TARGET dart-collision-bullet)
+  target_link_libraries(test_Raycast dart-collision-bullet)
+endif()
+
+if(TARGET dart-collision-ode)
+  # This test doesn't work with FCL because it converts simple shapes to meshes, which makes
+  # it difficult to come up with correct test expectations.
+  dart_add_test("integration" test_ForceDependentSlip)
+  target_link_libraries(test_ForceDependentSlip dart-collision-ode)
+endif()
+
+if(TARGET dart-utils)
+
+  dart_add_test("integration" test_Collision)
+  target_link_libraries(test_Collision dart-utils)
+  if(TARGET dart-collision-bullet)
+    target_link_libraries(test_Collision dart-collision-bullet)
+  endif()
+  if(TARGET dart-collision-ode)
+    target_link_libraries(test_Collision dart-collision-ode)
+  endif()
+
+  dart_add_test("integration" test_Dynamics)
+  target_link_libraries(test_Dynamics dart-utils)
+
+  dart_add_test("integration" test_Joints)
+  target_link_libraries(test_Joints dart-utils)
+
+  dart_add_test("integration" test_JointForceTorque)
+  target_link_libraries(test_JointForceTorque dart-utils)
+
+  dart_add_test("integration" test_Skeleton)
+  target_link_libraries(test_Skeleton dart-utils)
+
+  dart_add_test("integration" test_MetaSkeleton)
+  target_link_libraries(test_MetaSkeleton dart-utils)
+
+  dart_add_test("integration" test_SoftDynamics)
+  target_link_libraries(test_SoftDynamics dart-utils)
+
+  dart_add_test("integration" test_World)
+  target_link_libraries(test_World dart-utils)
+  if(TARGET dart-collision-bullet)
+    target_link_libraries(test_World dart-collision-bullet)
+  endif()
+
+  if(TARGET dart-utils-urdf)
+    dart_add_test("integration" test_ForwardKinematics)
+    target_link_libraries(test_ForwardKinematics dart-utils-urdf)
+  endif()
+
+endif()
diff --git a/unittests/unit/GeneratedWamIkFast.cpp b/unittests/integration/GeneratedWamIkFast.cpp
similarity index 100%
rename from unittests/unit/GeneratedWamIkFast.cpp
rename to unittests/integration/GeneratedWamIkFast.cpp
diff --git a/unittests/unit/SharedLibraryWamIkFast.cpp b/unittests/integration/SharedLibraryWamIkFast.cpp
similarity index 100%
rename from unittests/unit/SharedLibraryWamIkFast.cpp
rename to unittests/integration/SharedLibraryWamIkFast.cpp
diff --git a/unittests/unit/SharedLibraryWamIkFast.hpp b/unittests/integration/SharedLibraryWamIkFast.hpp
similarity index 100%
rename from unittests/unit/SharedLibraryWamIkFast.hpp
rename to unittests/integration/SharedLibraryWamIkFast.hpp
diff --git a/unittests/unit/test_Aspect.cpp b/unittests/integration/test_Aspect.cpp
similarity index 100%
rename from unittests/unit/test_Aspect.cpp
rename to unittests/integration/test_Aspect.cpp
diff --git a/unittests/comprehensive/test_Building.cpp b/unittests/integration/test_Building.cpp
similarity index 100%
rename from unittests/comprehensive/test_Building.cpp
rename to unittests/integration/test_Building.cpp
diff --git a/unittests/comprehensive/test_Collision.cpp b/unittests/integration/test_Collision.cpp
similarity index 99%
rename from unittests/comprehensive/test_Collision.cpp
rename to unittests/integration/test_Collision.cpp
index d25c6f666cbb0..499dd27f62cde 100644
--- a/unittests/comprehensive/test_Collision.cpp
+++ b/unittests/integration/test_Collision.cpp
@@ -510,7 +510,7 @@ void testSphereSphere(
     }
   }
   // The positions of contact point are different depending on the collision
-  // detector. More comprehensive tests need to be added.
+  // detector. More integration tests need to be added.
 }
 
 //==============================================================================
diff --git a/unittests/unit/test_CollisionGroups.cpp b/unittests/integration/test_CollisionGroups.cpp
similarity index 100%
rename from unittests/unit/test_CollisionGroups.cpp
rename to unittests/integration/test_CollisionGroups.cpp
diff --git a/unittests/comprehensive/test_Common.cpp b/unittests/integration/test_Common.cpp
similarity index 100%
rename from unittests/comprehensive/test_Common.cpp
rename to unittests/integration/test_Common.cpp
diff --git a/unittests/unit/test_CompositeResourceRetriever.cpp b/unittests/integration/test_CompositeResourceRetriever.cpp
similarity index 100%
rename from unittests/unit/test_CompositeResourceRetriever.cpp
rename to unittests/integration/test_CompositeResourceRetriever.cpp
diff --git a/unittests/comprehensive/test_Concurrency.cpp b/unittests/integration/test_Concurrency.cpp
similarity index 100%
rename from unittests/comprehensive/test_Concurrency.cpp
rename to unittests/integration/test_Concurrency.cpp
diff --git a/unittests/comprehensive/test_Constraint.cpp b/unittests/integration/test_Constraint.cpp
similarity index 100%
rename from unittests/comprehensive/test_Constraint.cpp
rename to unittests/integration/test_Constraint.cpp
diff --git a/unittests/unit/test_ContactConstraint.cpp b/unittests/integration/test_ContactConstraint.cpp
similarity index 100%
rename from unittests/unit/test_ContactConstraint.cpp
rename to unittests/integration/test_ContactConstraint.cpp
diff --git a/unittests/unit/test_DartLoader.cpp b/unittests/integration/test_DartLoader.cpp
similarity index 100%
rename from unittests/unit/test_DartLoader.cpp
rename to unittests/integration/test_DartLoader.cpp
diff --git a/unittests/unit/test_DartResourceRetriever.cpp b/unittests/integration/test_DartResourceRetriever.cpp
similarity index 100%
rename from unittests/unit/test_DartResourceRetriever.cpp
rename to unittests/integration/test_DartResourceRetriever.cpp
diff --git a/unittests/comprehensive/test_Distance.cpp b/unittests/integration/test_Distance.cpp
similarity index 100%
rename from unittests/comprehensive/test_Distance.cpp
rename to unittests/integration/test_Distance.cpp
diff --git a/unittests/comprehensive/test_Dynamics.cpp b/unittests/integration/test_Dynamics.cpp
similarity index 100%
rename from unittests/comprehensive/test_Dynamics.cpp
rename to unittests/integration/test_Dynamics.cpp
diff --git a/unittests/unit/test_FileInfoWorld.cpp b/unittests/integration/test_FileInfoWorld.cpp
similarity index 100%
rename from unittests/unit/test_FileInfoWorld.cpp
rename to unittests/integration/test_FileInfoWorld.cpp
diff --git a/unittests/comprehensive/test_ForceDependentSlip.cpp b/unittests/integration/test_ForceDependentSlip.cpp
similarity index 100%
rename from unittests/comprehensive/test_ForceDependentSlip.cpp
rename to unittests/integration/test_ForceDependentSlip.cpp
diff --git a/unittests/comprehensive/test_ForwardKinematics.cpp b/unittests/integration/test_ForwardKinematics.cpp
similarity index 100%
rename from unittests/comprehensive/test_ForwardKinematics.cpp
rename to unittests/integration/test_ForwardKinematics.cpp
diff --git a/unittests/comprehensive/test_Frames.cpp b/unittests/integration/test_Frames.cpp
similarity index 100%
rename from unittests/comprehensive/test_Frames.cpp
rename to unittests/integration/test_Frames.cpp
diff --git a/unittests/comprehensive/test_Friction.cpp b/unittests/integration/test_Friction.cpp
similarity index 100%
rename from unittests/comprehensive/test_Friction.cpp
rename to unittests/integration/test_Friction.cpp
diff --git a/unittests/unit/test_GenericJoints.cpp b/unittests/integration/test_GenericJoints.cpp
similarity index 100%
rename from unittests/unit/test_GenericJoints.cpp
rename to unittests/integration/test_GenericJoints.cpp
diff --git a/unittests/unit/test_IkFast.cpp b/unittests/integration/test_IkFast.cpp
similarity index 100%
rename from unittests/unit/test_IkFast.cpp
rename to unittests/integration/test_IkFast.cpp
diff --git a/unittests/unit/test_Inertia.cpp b/unittests/integration/test_Inertia.cpp
similarity index 100%
rename from unittests/unit/test_Inertia.cpp
rename to unittests/integration/test_Inertia.cpp
diff --git a/unittests/comprehensive/test_InverseKinematics.cpp b/unittests/integration/test_InverseKinematics.cpp
similarity index 100%
rename from unittests/comprehensive/test_InverseKinematics.cpp
rename to unittests/integration/test_InverseKinematics.cpp
diff --git a/unittests/comprehensive/test_JointForceTorque.cpp b/unittests/integration/test_JointForceTorque.cpp
similarity index 100%
rename from unittests/comprehensive/test_JointForceTorque.cpp
rename to unittests/integration/test_JointForceTorque.cpp
diff --git a/unittests/comprehensive/test_Joints.cpp b/unittests/integration/test_Joints.cpp
similarity index 100%
rename from unittests/comprehensive/test_Joints.cpp
rename to unittests/integration/test_Joints.cpp
diff --git a/unittests/unit/test_Lemke.cpp b/unittests/integration/test_Lemke.cpp
similarity index 100%
rename from unittests/unit/test_Lemke.cpp
rename to unittests/integration/test_Lemke.cpp
diff --git a/unittests/unit/test_LocalResourceRetriever.cpp b/unittests/integration/test_LocalResourceRetriever.cpp
similarity index 100%
rename from unittests/unit/test_LocalResourceRetriever.cpp
rename to unittests/integration/test_LocalResourceRetriever.cpp
diff --git a/unittests/comprehensive/test_MetaSkeleton.cpp b/unittests/integration/test_MetaSkeleton.cpp
similarity index 100%
rename from unittests/comprehensive/test_MetaSkeleton.cpp
rename to unittests/integration/test_MetaSkeleton.cpp
diff --git a/unittests/unit/test_MjcfParser.cpp b/unittests/integration/test_MjcfParser.cpp
similarity index 100%
rename from unittests/unit/test_MjcfParser.cpp
rename to unittests/integration/test_MjcfParser.cpp
diff --git a/unittests/comprehensive/test_MultiObjectiveOptimization.cpp b/unittests/integration/test_MultiObjectiveOptimization.cpp
similarity index 100%
rename from unittests/comprehensive/test_MultiObjectiveOptimization.cpp
rename to unittests/integration/test_MultiObjectiveOptimization.cpp
diff --git a/unittests/comprehensive/test_NameManagement.cpp b/unittests/integration/test_NameManagement.cpp
similarity index 100%
rename from unittests/comprehensive/test_NameManagement.cpp
rename to unittests/integration/test_NameManagement.cpp
diff --git a/unittests/unit/test_NearestNeighbor.cpp b/unittests/integration/test_NearestNeighbor.cpp
similarity index 100%
rename from unittests/unit/test_NearestNeighbor.cpp
rename to unittests/integration/test_NearestNeighbor.cpp
diff --git a/unittests/unit/test_Optimizer.cpp b/unittests/integration/test_Optimizer.cpp
similarity index 100%
rename from unittests/unit/test_Optimizer.cpp
rename to unittests/integration/test_Optimizer.cpp
diff --git a/unittests/unit/test_PackageResourceRetriever.cpp b/unittests/integration/test_PackageResourceRetriever.cpp
similarity index 100%
rename from unittests/unit/test_PackageResourceRetriever.cpp
rename to unittests/integration/test_PackageResourceRetriever.cpp
diff --git a/unittests/comprehensive/test_Raycast.cpp b/unittests/integration/test_Raycast.cpp
similarity index 100%
rename from unittests/comprehensive/test_Raycast.cpp
rename to unittests/integration/test_Raycast.cpp
diff --git a/unittests/unit/test_ScrewJoint.cpp b/unittests/integration/test_ScrewJoint.cpp
similarity index 100%
rename from unittests/unit/test_ScrewJoint.cpp
rename to unittests/integration/test_ScrewJoint.cpp
diff --git a/unittests/unit/test_SdfParser.cpp b/unittests/integration/test_SdfParser.cpp
similarity index 100%
rename from unittests/unit/test_SdfParser.cpp
rename to unittests/integration/test_SdfParser.cpp
diff --git a/unittests/unit/test_Signal.cpp b/unittests/integration/test_Signal.cpp
similarity index 99%
rename from unittests/unit/test_Signal.cpp
rename to unittests/integration/test_Signal.cpp
index c2d6d1d426ee6..7179c1d458d13 100644
--- a/unittests/unit/test_Signal.cpp
+++ b/unittests/integration/test_Signal.cpp
@@ -41,7 +41,6 @@ using namespace Eigen;
 using namespace dart;
 using namespace common;
 using namespace dynamics;
-using namespace simulation;
 
 static int callCount0 = 0;
 static int callCount1 = 0;
diff --git a/unittests/unit/test_SkelParser.cpp b/unittests/integration/test_SkelParser.cpp
similarity index 100%
rename from unittests/unit/test_SkelParser.cpp
rename to unittests/integration/test_SkelParser.cpp
diff --git a/unittests/comprehensive/test_Skeleton.cpp b/unittests/integration/test_Skeleton.cpp
similarity index 100%
rename from unittests/comprehensive/test_Skeleton.cpp
rename to unittests/integration/test_Skeleton.cpp
diff --git a/unittests/comprehensive/test_SoftDynamics.cpp b/unittests/integration/test_SoftDynamics.cpp
similarity index 100%
rename from unittests/comprehensive/test_SoftDynamics.cpp
rename to unittests/integration/test_SoftDynamics.cpp
diff --git a/unittests/unit/test_Subscriptions.cpp b/unittests/integration/test_Subscriptions.cpp
similarity index 100%
rename from unittests/unit/test_Subscriptions.cpp
rename to unittests/integration/test_Subscriptions.cpp
diff --git a/unittests/unit/test_VskParser.cpp b/unittests/integration/test_VskParser.cpp
similarity index 100%
rename from unittests/unit/test_VskParser.cpp
rename to unittests/integration/test_VskParser.cpp
diff --git a/unittests/comprehensive/test_World.cpp b/unittests/integration/test_World.cpp
similarity index 100%
rename from unittests/comprehensive/test_World.cpp
rename to unittests/integration/test_World.cpp
diff --git a/unittests/unit/CMakeLists.txt b/unittests/unit/CMakeLists.txt
index 70400cbf6a808..8541a9eadf0f4 100644
--- a/unittests/unit/CMakeLists.txt
+++ b/unittests/unit/CMakeLists.txt
@@ -1,100 +1,4 @@
-dart_add_test("unit" test_Aspect)
-dart_add_test("unit" test_CollisionGroups)
-foreach(collision_engine
-  dart-collision-bullet
-  dart-collision-ode)
-  if(TARGET ${collision_engine})
-    target_link_libraries(test_CollisionGroups ${collision_engine})
-  endif()
-endforeach()
-dart_add_test("unit" test_CAllocator)
-dart_add_test("unit" test_ContactConstraint)
-dart_add_test("unit" test_Factory)
-dart_add_test("unit" test_GenericJoints)
-dart_add_test("unit" test_Geometry)
-dart_add_test("unit" test_Icosphere)
-dart_add_test("unit" test_Inertia)
-dart_add_test("unit" test_Lemke)
-dart_add_test("unit" test_LocalResourceRetriever)
-dart_add_test("unit" test_Logging)
-dart_add_test("unit" test_Math)
-dart_add_test("unit" test_Optimizer)
-dart_add_test("unit" test_Random)
-dart_add_test("unit" test_ScrewJoint)
-dart_add_test("unit" test_Signal)
-dart_add_test("unit" test_StlAllocator)
-dart_add_test("unit" test_Subscriptions)
-dart_add_test("unit" test_TriMesh)
-dart_add_test("unit" test_Uri)
+# Copyright (c) 2011-2021, The DART development contributors
 
-if(TARGET dart-optimizer-ipopt)
-  target_link_libraries(test_Optimizer dart-optimizer-ipopt)
-endif()
-
-if(TARGET dart-optimizer-nlopt)
-  target_link_libraries(test_Optimizer dart-optimizer-nlopt)
-endif()
-
-if(TARGET dart-utils)
-
-  dart_add_test("unit" test_CompositeResourceRetriever)
-  target_link_libraries(test_CompositeResourceRetriever dart-utils)
-
-  dart_add_test("unit" test_DartResourceRetriever)
-  target_link_libraries(test_DartResourceRetriever dart-utils)
-  
-  dart_add_test("unit" test_FileInfoWorld)
-  target_link_libraries(test_FileInfoWorld dart-utils)
-
-  dart_add_test("unit" test_PackageResourceRetriever)
-  target_link_libraries(test_PackageResourceRetriever dart-utils)
-
-  dart_add_test("unit" test_MjcfParser)
-  target_link_libraries(test_MjcfParser dart-utils)
-  
-  dart_add_test("unit" test_SdfParser)
-  target_link_libraries(test_SdfParser dart-utils)
-  
-  dart_add_test("unit" test_SkelParser)
-  target_link_libraries(test_SkelParser dart-utils)
-
-  if(NOT MSVC) 
-    dart_add_test("unit" test_VskParser)
-    target_link_libraries(test_VskParser dart-utils)
-  endif()
-
-endif()
-
-if(TARGET dart-utils-urdf)
-  if(NOT MSVC)
-    dart_add_test("unit" test_DartLoader)
-    target_link_libraries(test_DartLoader dart-utils-urdf)
-  endif()
-
-  dart_add_library(SharedLibraryWamIkFast SharedLibraryWamIkFast.hpp SharedLibraryWamIkFast.cpp)
-  target_link_libraries(SharedLibraryWamIkFast PUBLIC dart)
-  target_compile_definitions(SharedLibraryWamIkFast PUBLIC IKFAST_NO_MAIN IKFAST_CLIBRARY)
-  target_compile_options(SharedLibraryWamIkFast PRIVATE -w)
-
-  dart_add_library(GeneratedWamIkFast GeneratedWamIkFast.cpp)
-  target_link_libraries(GeneratedWamIkFast PUBLIC dart)
-  target_compile_definitions(GeneratedWamIkFast PUBLIC IKFAST_NO_MAIN IKFAST_CLIBRARY)
-  target_compile_options(GeneratedWamIkFast PRIVATE -w)
-
-  if(BUILD_SHARED_LIBS)
-    dart_add_test("unit" test_IkFast)
-    target_link_libraries(test_IkFast dart-utils-urdf)
-    add_dependencies(test_IkFast GeneratedWamIkFast SharedLibraryWamIkFast)
-  endif()
-endif()
-
-if(TARGET dart-planning)
-  dart_add_test("unit" test_NearestNeighbor)
-  target_link_libraries(test_NearestNeighbor dart-planning)
-endif()
-
-dart_format_add(
-  GeneratedWamIkFast.cpp
-  SharedLibraryWamIkFast.hpp
-  SharedLibraryWamIkFast.cpp
-)
+add_subdirectory(common)
+add_subdirectory(math)
diff --git a/unittests/unit/common/CMakeLists.txt b/unittests/unit/common/CMakeLists.txt
new file mode 100644
index 0000000000000..e3a9fadfa22e9
--- /dev/null
+++ b/unittests/unit/common/CMakeLists.txt
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2021, The DART development contributors
+
+dart_build_tests(
+  TYPE unit
+  COMPONENT_NAME common
+  TARGET_PREFIX UNIT_common
+  LINK_LIBRARIES dart
+  GLOB_SOURCES
+)
diff --git a/unittests/unit/test_CAllocator.cpp b/unittests/unit/common/test_CAllocator.cpp
similarity index 100%
rename from unittests/unit/test_CAllocator.cpp
rename to unittests/unit/common/test_CAllocator.cpp
diff --git a/unittests/unit/test_Factory.cpp b/unittests/unit/common/test_Factory.cpp
similarity index 100%
rename from unittests/unit/test_Factory.cpp
rename to unittests/unit/common/test_Factory.cpp
diff --git a/unittests/unit/test_Logging.cpp b/unittests/unit/common/test_Logging.cpp
similarity index 100%
rename from unittests/unit/test_Logging.cpp
rename to unittests/unit/common/test_Logging.cpp
diff --git a/unittests/unit/test_Uri.cpp b/unittests/unit/common/test_Uri.cpp
similarity index 100%
rename from unittests/unit/test_Uri.cpp
rename to unittests/unit/common/test_Uri.cpp
diff --git a/unittests/unit/math/CMakeLists.txt b/unittests/unit/math/CMakeLists.txt
new file mode 100644
index 0000000000000..bdecbf3134c42
--- /dev/null
+++ b/unittests/unit/math/CMakeLists.txt
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2021, The DART development contributors
+
+dart_build_tests(
+  TYPE unit
+  COMPONENT_NAME math
+  TARGET_PREFIX UNIT_math
+  LINK_LIBRARIES dart
+  GLOB_SOURCES
+)
diff --git a/unittests/unit/test_Geometry.cpp b/unittests/unit/math/test_Geometry.cpp
similarity index 98%
rename from unittests/unit/test_Geometry.cpp
rename to unittests/unit/math/test_Geometry.cpp
index fd392c0b2b35f..50a2431de051e 100644
--- a/unittests/unit/test_Geometry.cpp
+++ b/unittests/unit/math/test_Geometry.cpp
@@ -34,23 +34,13 @@
 
 #include <gtest/gtest.h>
 
-#include "dart/dynamics/BallJoint.hpp"
-#include "dart/dynamics/FreeJoint.hpp"
-#include "dart/dynamics/PrismaticJoint.hpp"
-#include "dart/dynamics/RevoluteJoint.hpp"
-#include "dart/dynamics/Skeleton.hpp"
-#include "dart/dynamics/TranslationalJoint.hpp"
-#include "dart/dynamics/WeldJoint.hpp"
 #include "dart/math/Geometry.hpp"
 #include "dart/math/Helpers.hpp"
-#include "dart/simulation/World.hpp"
 
 #include "TestHelpers.hpp"
 
 using namespace dart;
 using namespace math;
-using namespace dynamics;
-using namespace simulation;
 
 #define LIE_GROUP_OPT_TOL 1e-12
 
diff --git a/unittests/unit/test_Icosphere.cpp b/unittests/unit/math/test_Icosphere.cpp
similarity index 100%
rename from unittests/unit/test_Icosphere.cpp
rename to unittests/unit/math/test_Icosphere.cpp
diff --git a/unittests/unit/test_Math.cpp b/unittests/unit/math/test_Math.cpp
similarity index 100%
rename from unittests/unit/test_Math.cpp
rename to unittests/unit/math/test_Math.cpp
diff --git a/unittests/unit/test_Random.cpp b/unittests/unit/math/test_Random.cpp
similarity index 100%
rename from unittests/unit/test_Random.cpp
rename to unittests/unit/math/test_Random.cpp
diff --git a/unittests/unit/test_StlAllocator.cpp b/unittests/unit/math/test_StlAllocator.cpp
similarity index 100%
rename from unittests/unit/test_StlAllocator.cpp
rename to unittests/unit/math/test_StlAllocator.cpp
diff --git a/unittests/unit/test_TriMesh.cpp b/unittests/unit/math/test_TriMesh.cpp
similarity index 100%
rename from unittests/unit/test_TriMesh.cpp
rename to unittests/unit/math/test_TriMesh.cpp