diff --git a/CMakeLists.txt b/CMakeLists.txt
index b42a531..c51817d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,44 +31,62 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 
 
 set (dirs
-  bookshelf
-  bowl
-  cabinet
-  camera
-  coke_can
-  cordless_drill
-  create
-  cube_20k
-  ground_plane
-  hammer
-  hokuyo
-  kinect
-  monkey_wrench
-  pioneer2dx
-  powerplant
-  pr2
-  pr2_gripper
-  simple_arm
-  simple_arm_gripper
-  simple_gripper
-  sun
-  table
-  turtlebot
-  utility_cart
-  willowgarage
-  youbot
+bookshelf
+bowl
+cabinet
+camera
+coke_can
+cordless_drill
+create
+cube_20k
+ground_plane
+hammer
+hokuyo
+kinect
+monkey_wrench
+nist_elevated_floor_120
+nist_fiducial_barrel
+nist_maze_wall_120
+nist_maze_wall_240
+nist_maze_wall_triple_holes_120
+nist_simple_ramp_120
+nist_stairs_120
+pioneer2dx
+powerplant
+pr2
+pr2_gripper
+saucepan
+simple_arm
+simple_arm_gripper
+simple_gripper
+sun
+table
+turtlebot
+utility_cart
+willowgarage
+youbot
+)
 
-  )
+set (MODEL_URI_LIST "" CACHE INTERNAL "Model URI List" FORCE)
 
 foreach (dir ${dirs})
-  add_custom_target(${dir}
-    ALL
-    COMMAND tar czvf ${dir}.tar.gz ../${dir}
-    COMMAND mv ${dir}.tar.gz ../${dir}/model.tar.gz)
-  install (DIRECTORY ${dir} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/gazebo_models)
+  add_custom_target(${dir} ALL COMMAND tar czvf ${dir}.tar.gz ../${dir})
+  install (DIRECTORY ${dir} DESTINATION
+    ${CMAKE_INSTALL_PREFIX}/share/models)
+  install (FILES ${PROJECT_BINARY_DIR}/${dir}.tar.gz DESTINATION
+    ${CMAKE_INSTALL_PREFIX}/share/models/${dir})
+  set(MODEL_URI_LIST "${MODEL_URI_LIST}<uri>file://${dir}</uri>\n")
+  #CACHE INTERNAL "Model URI List" FORCE)
 endforeach ()
 
-message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}/share/gazebo_models")
+configure_file("${CMAKE_SOURCE_DIR}/manifest.xml.in"
+               "${PROJECT_BINARY_DIR}/manifest.xml")
+
+install (FILES "${PROJECT_BINARY_DIR}/manifest.xml" DESTINATION
+         ${CMAKE_INSTALL_PREFIX}/share/models/)
+
+message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}/share/models")
 
 # This must always be last!
 include(CPack)
+
diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index e04077a..0000000
--- a/manifest.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<?xml version="1.0" ?>
-<database>
-  <name>gazebosim</name>
-  <license>Creative Commons Attribution 3.0 Unported</license>
-
-  <models>
-    <uri>file://bookshelf</uri>
-    <uri>file://bowl</uri>
-    <uri>file://cabinet</uri>
-    <uri>file://coke_can</uri>
-    <uri>file://cordless_drill</uri>
-    <uri>file://create</uri>
-    <uri>file://cube_20k</uri>
-    <uri>file://ground_plane</uri>
-    <uri>file://camera</uri>
-    <uri>file://hammer</uri>
-    <uri>file://hokuyo</uri>
-    <uri>file://youbot</uri>
-    <uri>file://kinect</uri>
-    <uri>file://monkey_wrench</uri>
-    <uri>file://pioneer2dx</uri>
-    <uri>file://powerplant</uri>
-    <uri>file://pr2</uri>
-    <uri>file://pr2_gripper</uri>
-    <uri>file://simple_arm</uri>
-    <uri>file://simple_arm_gripper</uri>
-    <uri>file://simple_gripper</uri>
-    <uri>file://sun</uri>
-    <uri>file://table</uri>
-    <uri>file://turtlebot</uri>
-    <uri>file://utility_cart</uri>
-    <uri>file://willowgarage</uri>
-  </models>
-</database>
diff --git a/manifest.xml.in b/manifest.xml.in
new file mode 100644
index 0000000..6e54186
--- /dev/null
+++ b/manifest.xml.in
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<database>
+  <name>gazebosim</name>
+  <license>Creative Commons Attribution 3.0 Unported</license>
+
+  <models>
+    @MODEL_URI_LIST@
+  </models>
+</database>