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 @@
-
+
-
-
+
+
-
+
@@ -117,6 +117,8 @@
resolution="640 480"
euler="-0.9 0 3.1415"
/>
-
+
+
+
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 @@
ament_cmake
+ picknik_accessories
admittance_controller
kinematics_interface_kdl
moveit_planners_stomp
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml
index dcee35f1..40703c64 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml
@@ -13,8 +13,8 @@
ament_cmake
moveit_studio_kinova_pstop_manager
+ kortex_description
- kortex_description
moveit_ros_perception
moveit_studio_agent
moveit_studio_behavior
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/description/picknik_kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/description/picknik_kinova_gen3.xacro
index 33379894..a00a589e 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/description/picknik_kinova_gen3.xacro
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/description/picknik_kinova_gen3.xacro
@@ -52,7 +52,7 @@
-
+
@@ -61,7 +61,7 @@
-
+
@@ -74,7 +74,7 @@
-
+
@@ -83,7 +83,7 @@
-
+
@@ -103,7 +103,7 @@
-
+
@@ -112,7 +112,7 @@
-
+
@@ -132,7 +132,7 @@
-
+
@@ -141,7 +141,7 @@
-
+
@@ -161,7 +161,7 @@
-
+
@@ -170,7 +170,7 @@
-
+
@@ -190,7 +190,7 @@
-
+
@@ -199,7 +199,7 @@
-
+
@@ -219,7 +219,7 @@
-
+
@@ -228,7 +228,7 @@
-
+
@@ -248,7 +248,7 @@
-
+
@@ -257,7 +257,7 @@
-
+
diff --git a/src/picknik_accessories b/src/picknik_accessories
index 18b1e9f5..6ddf6570 160000
--- a/src/picknik_accessories
+++ b/src/picknik_accessories
@@ -1 +1 @@
-Subproject commit 18b1e9f50f8f566b979e7251baf8744fa6387b29
+Subproject commit 6ddf657050f678b9eac282ade0940d827a8ea166