diff --git a/src/fanuc_sim/CMakeLists.txt b/src/fanuc_sim/CMakeLists.txt
index 98ed68c..31ea8e8 100644
--- a/src/fanuc_sim/CMakeLists.txt
+++ b/src/fanuc_sim/CMakeLists.txt
@@ -2,7 +2,12 @@ cmake_minimum_required(VERSION 3.22)
 project(fanuc_sim)
 
 find_package(ament_cmake REQUIRED)
+find_package(picknik_accessories REQUIRED)
 
+install_picknik_accessories(
+    DESTINATION "share/${PROJECT_NAME}/description"
+)
+        
 install(
   DIRECTORY
     config
diff --git a/src/fanuc_sim/package.xml b/src/fanuc_sim/package.xml
index ab8ac55..3e125fd 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>
diff --git a/src/lab_sim/CMakeLists.txt b/src/lab_sim/CMakeLists.txt
index a2db2ed..bd0fd93 100644
--- a/src/lab_sim/CMakeLists.txt
+++ b/src/lab_sim/CMakeLists.txt
@@ -4,30 +4,9 @@ project(lab_sim)
 find_package(ament_cmake REQUIRED)
 find_package(picknik_accessories REQUIRED)
 
-
-# Install all XML files in directory
-set(PICKNIK_ACCESSORIES_SHARE_DIR
-"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
+install_picknik_accessories(
+    DESTINATION "share/${PROJECT_NAME}/description"
 )
-# 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 individual XML files
-# set(EXTERNAL_XML_FILES
-#   "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e_globals.xml"
-#   "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e.xml"
-#   # Add additional files here if desired
-# )
-# foreach(xml_file IN LISTS EXTERNAL_XML_FILES)
-#   install(FILES "${xml_file}"
-#           DESTINATION "${DEST_DIR}"
-#   )
-# endforeach()
-
 install(
   DIRECTORY
     config
diff --git a/src/lab_sim/package.xml b/src/lab_sim/package.xml
index 9f21fda..5fae8a2 100644
--- a/src/lab_sim/package.xml
+++ b/src/lab_sim/package.xml
@@ -14,13 +14,13 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>picknik_accessories</depend>
   <exec_depend>admittance_controller</exec_depend>
   <exec_depend>moveit_planners_stomp</exec_depend>
   <exec_depend>moveit_ros_perception</exec_depend>
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_studio_behavior</exec_depend>
   <exec_depend>moveit_studio_ur_pstop_manager</exec_depend>
-  <exec_depend>picknik_accessories</exec_depend>
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
diff --git a/src/picknik_accessories b/src/picknik_accessories
index 6ddf657..1652d5e 160000
--- a/src/picknik_accessories
+++ b/src/picknik_accessories
@@ -1 +1 @@
-Subproject commit 6ddf657050f678b9eac282ade0940d827a8ea166
+Subproject commit 1652d5eb3271417737f751ae6c5c6711f4ecb09d