diff --git a/src/fanuc_sim/CMakeLists.txt b/src/fanuc_sim/CMakeLists.txt
index 98ed68c5..ace747cd 100644
--- a/src/fanuc_sim/CMakeLists.txt
+++ b/src/fanuc_sim/CMakeLists.txt
@@ -2,7 +2,19 @@ cmake_minimum_required(VERSION 3.22)
 project(fanuc_sim)
 
 find_package(ament_cmake REQUIRED)
+find_package(picknik_accessories REQUIRED)
 
+# Install all XML files in directory
+set(PICKNIK_ACCESSORIES_SHARE_DIR
+"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
+)
+# Destination directory
+set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
+
+install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
+        DESTINATION "${DEST_DIR}"
+        FILES_MATCHING PATTERN "*")
+        
 install(
   DIRECTORY
     config
diff --git a/src/fanuc_sim/description/scene.xml b/src/fanuc_sim/description/scene.xml
index aec8caad..d55cd798 100644
--- a/src/fanuc_sim/description/scene.xml
+++ b/src/fanuc_sim/description/scene.xml
@@ -6,12 +6,12 @@
 
   <asset>
     <!-- Define textures and materials -->
-    <texture name="wood" type="cube" file="meshes/wood.png" />
+    <texture name="wood" type="cube" file="assets/wood.png" />
     <material name="wood" texture="wood" texrepeat="1 1" />
 
     <!-- Define AprilTag textures -->
-    <texture name="apriltag1" type="2d" file="meshes/tag36_11_00000.png" />
-    <texture name="apriltag2" type="2d" file="meshes/tag36_11_00001.png" />
+    <texture name="apriltag1" type="2d" file="assets/tag36_11_00000.png" />
+    <texture name="apriltag2" type="2d" file="assets/tag36_11_00001.png" />
 
     <!-- Define block materials with AprilTags -->
     <material
@@ -63,7 +63,7 @@
     />
   </asset>
   <asset>
-    <mesh name="cube" file="meshes/Cube.stl" />
+    <mesh name="cube" file="assets/Cube.stl" />
   </asset>
 
   <worldbody>
@@ -117,6 +117,8 @@
       resolution="640 480"
       euler="-0.9 0 3.1415"
     />
-    <include file="lrmate200id/lrmate200id.xml" />
+    <body name="arm_mount">
+      <include file="lrmate200id/lrmate200id.xml" />
+    </body>
   </worldbody>
 </mujoco>
diff --git a/src/fanuc_sim/package.xml b/src/fanuc_sim/package.xml
index ab8ac55c..3e125fd9 100644
--- a/src/fanuc_sim/package.xml
+++ b/src/fanuc_sim/package.xml
@@ -11,6 +11,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>picknik_accessories</depend>
   <exec_depend>admittance_controller</exec_depend>
   <exec_depend>kinematics_interface_kdl</exec_depend>
   <exec_depend>moveit_planners_stomp</exec_depend>
