diff --git a/unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml b/unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml
new file mode 100644
index 0000000..94fb9f5
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml
@@ -0,0 +1,9 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  arm_base_joint: 0
+  arm_link_1_joint: 0
+  arm_link_2_joint: 0
+  arm_link_3_joint: 0
+  gripper_base_joint: 0
+  gripper_right_joint: 0.03
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml b/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml
new file mode 100644
index 0000000..d4dffc3
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml
@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  arm_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_1_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_2_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_3_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_right_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml b/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml
new file mode 100644
index 0000000..c9a5d60
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml
@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro b/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro
new file mode 100644
index 0000000..70f8634
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro
@@ -0,0 +1,56 @@
+<?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="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
+
+        <ros2_control name="${device_name}benyao_arm" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${device_name}arm_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_1_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_2_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_3_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_right_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_right_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro b/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro
new file mode 100644
index 0000000..aeb5677
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    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">
+        <!--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-->
+        <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+        <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+        <group name="${device_name}arm">
+            <chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
+        </group>
+        <group name="${device_name}arm_gripper">
+            <joint name="${device_name}gripper_right_joint"/>
+        </group>
+        <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
+    </xacro:macro>
+</robot>
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/move_group.json b/unilabos/device_mesh/devices/benyao_arm/config/move_group.json
new file mode 100644
index 0000000..5be9ad3
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/move_group.json
@@ -0,0 +1,14 @@
+{
+    "arm":
+    {
+        "joint_names": [ 
+            "arm_base_joint",
+            "arm_link_1_joint",
+            "arm_link_2_joint",
+            "arm_link_3_joint",
+            "gripper_base_joint"
+            ],
+        "base_link_name": "device_link",
+        "end_effector_name": "gripper_base"
+    }
+}
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml b/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml
new file mode 100644
index 0000000..70a1b55
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml
@@ -0,0 +1,29 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    action_ns: follow_joint_trajectory
+    default: true
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - gripper_right_joint
+    action_ns: follow_joint_trajectory
+    default: true
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml b/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml
new file mode 100644
index 0000000..8560e1c
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml
@@ -0,0 +1,2 @@
+planner_configs:
+  - ompl_interface/OMPLPlanner
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml b/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml
new file mode 100644
index 0000000..b2997ca
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57
diff --git a/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml b/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml
new file mode 100644
index 0000000..9c68cbf
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml
@@ -0,0 +1,39 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_right_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml b/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml
new file mode 100644
index 0000000..b141262
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml
@@ -0,0 +1,44 @@
+joint_limits:
+
+  arm_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 1.5
+
+  arm_link_1_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.6
+
+  arm_link_2_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+  arm_link_3_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -195
+    upper: !degrees  195
+
+  gripper_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+
+  gripper_right_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
+
+  gripper_left_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
diff --git a/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro b/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro
new file mode 100644
index 0000000..137c916
--- /dev/null
+++ b/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro
@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
+
+  <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">
+    <!-- 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')}"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}arm_slideway"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <!-- JOINTS LIMIT PARAMETERS -->
+    <xacro:property name="limit_arm_base_joint"        value="${sec_limits['arm_base_joint']}" />
+    <xacro:property name="limit_arm_link_1_joint"      value="${sec_limits['arm_link_1_joint']}" />
+    <xacro:property name="limit_arm_link_2_joint"      value="${sec_limits['arm_link_2_joint']}" />
+    <xacro:property name="limit_arm_link_3_joint"      value="${sec_limits['arm_link_3_joint']}" />
+    <xacro:property name="limit_gripper_base_joint"    value="${sec_limits['gripper_base_joint']}" />
+    <xacro:property name="limit_gripper_right_joint"   value="${sec_limits['gripper_right_joint']}"/>
+    <xacro:property name="limit_gripper_left_joint"    value="${sec_limits['gripper_left_joint']}" />
+    <link name="${station_name}${device_name}arm_slideway">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
+        <mass value="13.6578107753627"/>
+        <inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
+      <parent link="${station_name}${device_name}arm_slideway"/>
+      <child link="${station_name}${device_name}arm_base"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_arm_base_joint['effort']}" 
+        lower="${limit_arm_base_joint['lower']}" 
+        upper="${limit_arm_base_joint['upper']}" 
+        velocity="${limit_arm_base_joint['velocity']}"/>
+    </joint>
+
+    <link name="${station_name}${device_name}arm_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
+        <mass value="16.1341586205194"/>
+        <inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${station_name}${device_name}arm_link_1">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
+        <mass value="0.828629227096429"/>
+        <inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
+      <parent link="${station_name}${device_name}arm_base"/>
+      <child link="${station_name}${device_name}arm_link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+      effort="${limit_arm_link_1_joint['effort']}" 
+      lower="${limit_arm_link_1_joint['lower']}" 
+      upper="${limit_arm_link_1_joint['upper']}" 
+      velocity="${limit_arm_link_1_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_2">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
+        <mass value="2.04764861029349"/>
+        <inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}arm_link_1"/>
+      <child link="${station_name}${device_name}arm_link_2"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_2_joint['effort']}" 
+        lower="${limit_arm_link_2_joint['lower']}" 
+        upper="${limit_arm_link_2_joint['upper']}" 
+        velocity="${limit_arm_link_2_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_3">
+      <inertial>
+        <origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
+        <mass value="1.19870202871083"/>
+        <inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
+      <parent link="${station_name}${device_name}arm_link_2"/>
+      <child link="${station_name}${device_name}arm_link_3"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_3_joint['effort']}" 
+        lower="${limit_arm_link_3_joint['lower']}" 
+        upper="${limit_arm_link_3_joint['upper']}" 
+        velocity="${limit_arm_link_3_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
+        <mass value="0.511925198394943"/>
+        <inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
+      <parent link="${station_name}${device_name}arm_link_3"/>
+      <child link="${station_name}${device_name}gripper_base"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_gripper_base_joint['effort']}" 
+        lower="${limit_gripper_base_joint['lower']}" 
+        upper="${limit_gripper_base_joint['upper']}" 
+        velocity="${limit_gripper_base_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_right">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
+        <mass value="0.013337481136229"/>
+        <inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_right"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_right_joint['effort']}" 
+        lower="${limit_gripper_right_joint['lower']}" 
+        upper="${limit_gripper_right_joint['upper']}" 
+        velocity="${limit_gripper_right_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_left">
+      <inertial>
+        <origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
+        <mass value="0.0133374811362292"/>
+        <inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
+      <origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_left"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_left_joint['effort']}" 
+        lower="${limit_gripper_left_joint['lower']}" 
+        upper="${limit_gripper_left_joint['upper']}" 
+        velocity="${limit_gripper_left_joint['velocity']}"/>
+      <mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
+    </joint>
+
+  </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL
new file mode 100644
index 0000000..804e1c6
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diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL
new file mode 100644
index 0000000..dd1d7c1
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diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL
new file mode 100644
index 0000000..6042fa0
Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL differ
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL
new file mode 100644
index 0000000..e8510fb
Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL differ
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL
new file mode 100644
index 0000000..65737ab
Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL differ
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL
new file mode 100644
index 0000000..5de88d0
Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL differ
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL
new file mode 100644
index 0000000..0a5fd52
Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL differ
diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL
new file mode 100644
index 0000000..0c5ac69
Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL differ