diff -up ./CMakeLists.txt.cmakeinstall ./CMakeLists.txt
--- ./CMakeLists.txt.cmakeinstall	2020-06-02 14:39:48.000000000 -0400
+++ ./CMakeLists.txt	2020-06-16 20:02:22.080726371 -0400
@@ -204,7 +204,7 @@ set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_
 set(LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})
 configure_package_config_file(omplConfig.cmake.in
     ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
-    INSTALL_DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
+    INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/ompl/cmake
     PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
     NO_CHECK_REQUIRED_COMPONENTS_MACRO)
 write_basic_package_version_file(
@@ -213,7 +213,7 @@ write_basic_package_version_file(
     COMPATIBILITY SameMajorVersion)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
     ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
-    DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/ompl/cmake
     COMPONENT ompl)
 
 # script to install ompl on Ubuntu
diff -up ./scripts/CMakeLists.txt.cmakeinstall ./scripts/CMakeLists.txt
--- ./scripts/CMakeLists.txt.cmakeinstall	2020-06-16 20:08:41.567530994 -0400
+++ ./scripts/CMakeLists.txt	2020-06-16 20:09:05.917268584 -0400
@@ -2,13 +2,3 @@ install_python(PROGRAMS ompl_benchmark_s
     DESTINATION ${CMAKE_INSTALL_BINDIR}
     COMPONENT ompl
     RENAME ompl_benchmark_statistics.py)
-
-find_program(R_EXEC R)
-if (R_EXEC)
-    install(DIRECTORY plannerarena
-        DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/ompl"
-        COMPONENT ompl)
-    install(PROGRAMS plannerarena/plannerarena
-        DESTINATION bin
-        RENAME plannerarena)
-endif()