diff --git a/test/experiments/plr_test_converted.json b/test/experiments/plr_test_converted.json
index 00f778b..6b5cae4 100644
--- a/test/experiments/plr_test_converted.json
+++ b/test/experiments/plr_test_converted.json
@@ -9645,19 +9645,19 @@
 
 
         {
-            "id": "benyao",
-            "name": "benyao",
+            "id": "arm_slider",
+            "name": "arm_slider",
             "children": [],
             "parent": null,
             "type": "device",
-            "class": "moveit.benyao_arm",
+            "class": "moveit.arm_slider",
             "position": {
                 "x": -500,
                 "y": 1000,
                 "z": -100
             },
             "config": {
-                "moveit_type": "benyao_arm",
+                "moveit_type": "arm_slider",
                 "joint_poses": {
                     "arm": {
                         "hotel_1": [
diff --git a/test/experiments/test_moveit.json b/test/experiments/test_moveit.json
index 2859dc3..41b003b 100644
--- a/test/experiments/test_moveit.json
+++ b/test/experiments/test_moveit.json
@@ -8,14 +8,14 @@
             ],
             "parent": null,
             "type": "device",
-            "class": "moveit.benyao_arm",
+            "class": "moveit.arm_slider",
             "position": {
                 "x": 0,
                 "y": 0,
                 "z": 0
             },
             "config": {
-                "moveit_type": "benyao_arm",
+                "moveit_type": "arm_slider",
                 "joint_poses": {
                     "arm": {
                         "home": [0.0, 0.2, 0.0, 0.0, 0.0],
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml b/unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml
rename to unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml b/unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml
rename to unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml b/unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml
rename to unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro b/unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro
similarity index 93%
rename from unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro
rename to unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro
index 70f8634..026d977 100644
--- a/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro
+++ b/unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
-        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
+    <xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
+        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
 
-        <ros2_control name="${device_name}benyao_arm" type="system">
+        <ros2_control name="${device_name}arm_slider" type="system">
             <hardware>
                 <!-- By default, set up controllers for simulation. This won't work on real hardware -->
                 <plugin>mock_components/GenericSystem</plugin>
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro b/unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro
similarity index 98%
rename from unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro
rename to unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro
index aeb5677..9c3ef9d 100644
--- a/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro
+++ b/unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro
@@ -4,7 +4,7 @@
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:macro name="benyao_arm_srdf" params="device_name">
+    <xacro:macro name="arm_slider_srdf" params="device_name">
         <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
         <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
         <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/move_group.json b/unilabos/device_mesh/devices/arm_slider/config/move_group.json
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/config/move_group.json
rename to unilabos/device_mesh/devices/arm_slider/config/move_group.json
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml b/unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml
rename to unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml b/unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml
rename to unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml b/unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml
rename to unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml b/unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml
rename to unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml
diff --git a/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml b/unilabos/device_mesh/devices/arm_slider/joint_limit.yaml
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml
rename to unilabos/device_mesh/devices/arm_slider/joint_limit.yaml
diff --git a/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro b/unilabos/device_mesh/devices/arm_slider/macro_device.xacro
similarity index 90%
rename from unilabos/device_mesh/devices/benyao_arm/macro_device.xacro
rename to unilabos/device_mesh/devices/arm_slider/macro_device.xacro
index 137c916..871229d 100644
--- a/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro
+++ b/unilabos/device_mesh/devices/arm_slider/macro_device.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
 
-  <xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+  <xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
     <!-- Read .yaml files from disk, load content into properties -->
-    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
+    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/arm_slider/joint_limit.yaml')}"/>
 
     <!-- Extract subsections from yaml dictionaries -->
     <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
@@ -40,7 +40,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
         </geometry>
         <material name="">
           <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
@@ -49,7 +49,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
         </geometry>
       </collision>
     </link>
@@ -75,7 +75,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -84,7 +84,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
         </geometry>
       </collision>
     </link>
@@ -98,7 +98,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -107,7 +107,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
         </geometry>
       </collision>
     </link>
@@ -131,7 +131,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -140,7 +140,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
         </geometry>
       </collision>
     </link>
@@ -164,7 +164,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -173,7 +173,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
         </geometry>
       </collision>
     </link>
@@ -197,7 +197,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -206,7 +206,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
         </geometry>
       </collision>
     </link>
@@ -230,7 +230,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -239,7 +239,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
         </geometry>
       </collision>
     </link>
@@ -263,7 +263,7 @@
       <visual>
         <origin rpy="0 3.1416 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
         </geometry>
         <material name="">
           <color rgba="1 1 1 1"/>
@@ -272,7 +272,7 @@
       <collision>
         <origin rpy="0 3.1416 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
         </geometry>
       </collision>
     </link>
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL
rename to unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL
rename to unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL
rename to unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL
rename to unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL
rename to unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL
rename to unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL
rename to unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL
similarity index 100%
rename from unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL
rename to unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL
diff --git a/unilabos/device_mesh/ros2_controllers.yaml b/unilabos/device_mesh/ros2_controllers.yaml
index e54c64c..7dbad85 100644
--- a/unilabos/device_mesh/ros2_controllers.yaml
+++ b/unilabos/device_mesh/ros2_controllers.yaml
@@ -1,30 +1,30 @@
-benyao_arm_controller:
+arm_slider_arm_controller:
   ros__parameters:
     command_interfaces:
     - position
     joints:
-    - benyao_arm_base_joint
-    - benyao_arm_link_1_joint
-    - benyao_arm_link_2_joint
-    - benyao_arm_link_3_joint
-    - benyao_gripper_base_joint
+    - arm_slider_arm_base_joint
+    - arm_slider_arm_link_1_joint
+    - arm_slider_arm_link_2_joint
+    - arm_slider_arm_link_3_joint
+    - arm_slider_gripper_base_joint
     state_interfaces:
     - position
     - velocity
-benyao_gripper_controller:
+arm_slider_gripper_controller:
   ros__parameters:
     command_interfaces:
     - position
     joints:
-    - benyao_gripper_right_joint
+    - arm_slider_gripper_right_joint
     state_interfaces:
     - position
     - velocity
 controller_manager:
   ros__parameters:
-    benyao_arm_controller:
+    arm_slider_arm_controller:
       type: joint_trajectory_controller/JointTrajectoryController
-    benyao_gripper_controller:
+    arm_slider_gripper_controller:
       type: joint_trajectory_controller/JointTrajectoryController
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
diff --git a/unilabos/device_mesh/view_robot.rviz b/unilabos/device_mesh/view_robot.rviz
index 368a2ed..1075057 100644
--- a/unilabos/device_mesh/view_robot.rviz
+++ b/unilabos/device_mesh/view_robot.rviz
@@ -105,83 +105,83 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          PLR_STATION_deck_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_first_link:
+          arm_slider_arm_base:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_fourth_link:
+          arm_slider_arm_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_main_link:
+          arm_slider_arm_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_second_link:
+          arm_slider_arm_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_socketTypeGenericSbsFootprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_socketTypeHEPAModule:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_third_link:
+          arm_slider_arm_slideway:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_base:
+          arm_slider_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          arm_slider_gripper_base:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_1:
+          arm_slider_gripper_left:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_2:
+          arm_slider_gripper_right:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_3:
+          deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_first_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_slideway:
+          deck_fourth_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          benyao_gripper_base:
+          deck_main_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_gripper_left:
+          deck_second_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_gripper_right:
+          deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_third_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -256,83 +256,83 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          PLR_STATION_deck_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_first_link:
+          arm_slider_arm_base:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_fourth_link:
+          arm_slider_arm_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_main_link:
+          arm_slider_arm_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_second_link:
+          arm_slider_arm_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_socketTypeGenericSbsFootprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_socketTypeHEPAModule:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_third_link:
+          arm_slider_arm_slideway:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_base:
+          arm_slider_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          arm_slider_gripper_base:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_1:
+          arm_slider_gripper_left:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_2:
+          arm_slider_gripper_right:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_3:
+          deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_first_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_slideway:
+          deck_fourth_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          benyao_gripper_base:
+          deck_main_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_gripper_left:
+          deck_second_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_gripper_right:
+          deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_third_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -377,7 +377,7 @@ Visualization Manager:
         Goal State Color: 250; 128; 0
         Interactive Marker Size: 0
         Joint Violation Color: 255; 0; 255
-        Planning Group: benyao_arm
+        Planning Group: arm_slider_arm
         Query Goal State: false
         Query Start State: false
         Show Workspace: false
@@ -400,83 +400,83 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          PLR_STATION_deck_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_first_link:
+          arm_slider_arm_base:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_fourth_link:
+          arm_slider_arm_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_main_link:
+          arm_slider_arm_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_second_link:
+          arm_slider_arm_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          PLR_STATION_deck_socketTypeGenericSbsFootprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_socketTypeHEPAModule:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_third_link:
+          arm_slider_arm_slideway:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_base:
+          arm_slider_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          arm_slider_gripper_base:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_1:
+          arm_slider_gripper_left:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_2:
+          arm_slider_gripper_right:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_link_3:
+          deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_first_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_arm_slideway:
+          deck_fourth_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          benyao_gripper_base:
+          deck_main_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_gripper_left:
+          deck_second_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          benyao_gripper_right:
+          deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_third_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -564,10 +564,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.48479583859443665
+      Pitch: 0.3197958767414093
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.042561568319797516
+      Yaw: 0.40756163001060486
     Saved: ~
 Window Geometry:
   Displays:
@@ -579,7 +579,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000002600000026fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
diff --git a/unilabos/registry/devices/moveit_config.yaml b/unilabos/registry/devices/moveit_config.yaml
index 383affc..6236855 100644
--- a/unilabos/registry/devices/moveit_config.yaml
+++ b/unilabos/registry/devices/moveit_config.yaml
@@ -27,11 +27,11 @@ moveit.toyo_xyz:
     type: device
     mesh: toyo_xyz
 
-moveit.benyao_arm:
-  description: Benyao Arm
+moveit.arm_slider:
+  description: Arm with Slider
   model:
     type: device
-    mesh: benyao_arm
+    mesh: arm_slider
   class:
     module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
     type: python