The first recorded Commedia dell'arte performances came from Rome as early as 1551, and was performed outdoors in temporary venues by professional actors who were costumed and masked, as opposed to , which were written comedies, presented indoors by untrained and unmasked actors. By the mid-16th century, specific troupes of ''commedia'' performers began to coalesce, and by 1568 the Gelosi became a distinct company. ''Commedia'' often performed inside in court theatres or halls, and also as some fixed theatres such as Teatro Baldrucca in Florence. Flaminio Scala, who had been a minor performer in the Gelosi published the scenarios of the ''commedia dell'arte'' around the start of the 17th century, really in an effort to legitimise the form—and ensure its legacy. These scenari are highly structured and built around the symmetry of the various types in duet: two , ,  and , among others.