diff --git a/README.md b/README.md
index fd10f98..f3277de 100644
--- a/README.md
+++ b/README.md
@@ -26,20 +26,27 @@ Prepare workspace & install dependencies (So far only tested with UR robot arm)
 ```bash
 mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
 git clone https://gitlab.com/robosphere/robossembler-ros2
-vcs import . < robossembler-ros2/rbs.sim.repos
+vcs import . < robossembler-ros2/repos/sim.rbs.repos
 cd ..
 rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
 ```
-<!-- For simulation with Mujoco, pls [ref](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/blob/fdaa9a2dd0ce15fc949b127dd1164095504273fb/cartesian_controller_simulation/README.md) build and install section. -->
+
+Additionally, if you want to use Cartesian controllers, such as stiffness or others, you need to execute the following:
+```
+# in directory robossembler_ws/src
+vcs import . < robossembler-ros2/repos/cartesian_controllers.repos
+```
+This will also install `ros2_control` and `gz_ros2_control` as packages, so it is recommended to delete global packages if they have been installed.
 
 ### Set Gazebo enviroment variables
 Replace `[WS_FOLDER]` with your workspace folder
 ```bash
-echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/robotiq_description/share/:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
+echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
+# or if you have alredy built the workspace
+echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/$(ros2 pkg prefix rbs_simulation)/share/rbs_simulation/" >> ~/.bashrc
 ```
 
-
 ### Examples
 Activate current ROS2 enviroment:
 ```
diff --git a/repos/cartesian_controllers.repos b/repos/cartesian_controllers.repos
new file mode 100644
index 0000000..a7429cc
--- /dev/null
+++ b/repos/cartesian_controllers.repos
@@ -0,0 +1,13 @@
+repositories:
+  cartesian-controllers:
+    type: git
+    url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
+    version: ros2
+  ros2_control:
+    type: git
+    url: https://github.com/solid-sinusoid/gz_ros2_control.git
+    version: gz-ros2-cartesian-controllers
+  gz_ros2_control:
+    type: git
+    url: https://github.com/solid-sinusoid/gz_ros2_control.git
+    version: pass-robot-description
diff --git a/rbs.real.repos b/repos/real.repos
similarity index 81%
rename from rbs.real.repos
rename to repos/real.repos
index 8cc8183..7968965 100644
--- a/rbs.real.repos
+++ b/repos/real.repos
@@ -15,7 +15,3 @@ repositories:
     type: git
     url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
     version: 2-add-ros2-control
-  gz_ros2_control:
-    type: git
-    url: https://github.com/solid-sinusoid/gz_ros2_control.git
-    version: ft-sensor-broadcaster
\ No newline at end of file
diff --git a/repos/sim.rbs.repos b/repos/sim.rbs.repos
new file mode 100644
index 0000000..a875501
--- /dev/null
+++ b/repos/sim.rbs.repos
@@ -0,0 +1,13 @@
+repositories:
+  rbs_arm:
+    type: git
+    url: https://github.com/solid-sinusoid/rbs-arm.git
+    version: main
+  rbs_gripper:
+    type: git
+    url: https://github.com/solid-sinusoid/rbs-gripper.git
+    version: main
+  behavior_tree:
+    type: git
+    url: https://github.com/solid-sinusoid/behavior_tree.git
+    version: master
diff --git a/rbs.sim.repos b/repos/sim.ur.repos
similarity index 80%
rename from rbs.sim.repos
rename to repos/sim.ur.repos
index 17cbd05..e939e90 100644
--- a/rbs.sim.repos
+++ b/repos/sim.ur.repos
@@ -15,7 +15,3 @@ repositories:
     type: git
     url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
     version: 2-add-ros2-control
-  gz_ros2_control:
-    type: git
-    url: https://github.com/solid-sinusoid/gz_ros2_control.git
-    version: ft-sensor-broadcaster