diff --git a/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml b/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
index c3cd347..c8cccfd 100644
--- a/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
+++ b/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
@@ -3,19 +3,22 @@
     <!-- ////////// -->
     <BehaviorTree ID="BehaviorTree">
         <Sequence>
-            <Action ID="GetEntityState" PartName="rasmt" server_name="/get_entity_state" server_timeout="10"/>
-            <Action ID="MoveToPose" arm_group="rasmt_arm_group" server_name="/move_topose" server_timeout="10" cancel_timeout="5" />
-            <Action ID="MoveGripper" arm_group="rasmt_hand_arm_group" server_name="/move_to_joint_states" server_timeout="10" cancel_timeout="5" />
+            <Action ID="GetEntityState" part_name="${arg1}" server_name="/get_entity_state" server_timeout="10"/>
+            <Action ID="MoveToPose" arm_group="${arg0}" server_name="/move_topose" server_timeout="10" cancel_timeout="5" />
+            <Action ID="MoveGripper" arm_group="${arg0}" server_name="/move_to_joint_states" server_timeout="10" cancel_timeout="5" />
         </Sequence>
     </BehaviorTree>
     <!-- ////////// -->
     <TreeNodesModel>
         <Action ID="GetEntityState">
-            <input_port name="PartName"/>
+            <input_port name="part_name"/>
         </Action>
         <Action ID="MoveToPose">
             <input_port name="arm_group"/>
         </Action>
+        <Action ID="MoveGripper">
+            <input_port name="arm_group"/>
+        </Action>
     </TreeNodesModel>
     <!-- ////////// -->
 </root>
diff --git a/robossembler/src/behavior_tree_nodes/atomic_skills/GetEntityState.cpp b/robossembler/src/behavior_tree_nodes/atomic_skills/GetEntityState.cpp
index 133ff22..b30929c 100644
--- a/robossembler/src/behavior_tree_nodes/atomic_skills/GetEntityState.cpp
+++ b/robossembler/src/behavior_tree_nodes/atomic_skills/GetEntityState.cpp
@@ -11,13 +11,15 @@ class GetEntityState : public BtService<GetEntityStateSrv>
         GetEntityState(const std::string & name, const BT::NodeConfiguration & config)
         : BtService<GetEntityStateSrv>(name, config){
             
-            //getInput<std::string>("PartName", part_name_);
-            part_name_ = getInput<std::string>("PartName").value();
-            RCLCPP_INFO_STREAM(_node->get_logger(), "Provided part name ["<< part_name_<<"]");
         }
 
         GetEntityStateSrv::Request::SharedPtr populate_request() override
         {
+            getInput<std::string>("part_name", part_name_);
+            //part_name_ = getInput<std::string>("PartName").value();
+
+            RCLCPP_INFO_STREAM(_node->get_logger(), "Provided part name ["<< part_name_<<"]");
+            
             //GetEntityStateSrv::Request::SharedPtr request;
             auto request = std::make_shared<GetEntityStateSrv::Request>();
             request->name = part_name_;
@@ -33,7 +35,7 @@ class GetEntityState : public BtService<GetEntityStateSrv>
         static PortsList providedPorts()
         {
             return providedBasicPorts({
-                    InputPort<std::string>("PartName")});
+                    InputPort<std::string>("part_name")});
         }
     private:
         std::string part_name_;
diff --git a/robossembler/src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp b/robossembler/src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp
index ab8646f..d2f28ec 100644
--- a/robossembler/src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp
+++ b/robossembler/src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp
@@ -13,15 +13,15 @@ class MoveToJointState : public BtAction<MoveToJointStateAction>
     public:
         MoveToJointState(const std::string & name, const BT::NodeConfiguration & config) 
         : BtAction<MoveToJointStateAction>(name, config) {
-
-            robot_name_ = getInput<std::string>("arm_group").value();
-
             gripper_gap = 0.02;
-            RCLCPP_INFO(_node->get_logger(), "Send goal to robot [%s]", robot_name_.c_str());
         }
 
         MoveToJointStateAction::Goal populate_goal() override
         {
+            getInput<std::string>("arm_group", robot_name_);
+            //robot_name_ = getInput<std::string>("arm_group").value();
+
+            RCLCPP_INFO(_node->get_logger(), "Send goal to robot [%s]", robot_name_.c_str());
             auto goal = MoveToJointStateAction::Goal();
             goal.robot_name = robot_name_;
             goal.joints_acceleration_scaling_factor = 0.1;
diff --git a/robossembler/src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp b/robossembler/src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp
index 440105e..5e58790 100644
--- a/robossembler/src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp
+++ b/robossembler/src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp
@@ -13,16 +13,17 @@ class MoveToPose : public BtAction<MoveToPoseAction>
     public:
         MoveToPose(const std::string & name, const BT::NodeConfiguration & config) 
         : BtAction<MoveToPoseAction>(name, config) {
-
-            robot_name_ = getInput<std::string>("arm_group").value();
             target_pose_.position.x = 0.1;
             target_pose_.position.y = 0.1;
             target_pose_.position.z = 0.6;
-            RCLCPP_INFO(_node->get_logger(), "Send goal to robot [%s]", robot_name_.c_str());
         }
 
         MoveToPoseAction::Goal populate_goal() override
         {
+            getInput<std::string>("arm_group", robot_name_);
+            //robot_name_ = getInput<std::string>("arm_group").value();
+
+            RCLCPP_INFO(_node->get_logger(), "Send goal to robot [%s]", robot_name_.c_str());
             auto goal = MoveToPoseAction::Goal();
             goal.robot_name = robot_name_;
             goal.end_effector_acceleration = 1.0;
diff --git a/robossembler_servers/CMakeLists.txt b/robossembler_servers/CMakeLists.txt
index 32efcc9..2678ec9 100644
--- a/robossembler_servers/CMakeLists.txt
+++ b/robossembler_servers/CMakeLists.txt
@@ -41,11 +41,11 @@ set(deps
   robossembler_interfaces
 )
 #
-include_directories(include)
+# include_directories(include)
 
-install(DIRECTORY include
-  DESTINATION include
-)
+# install(DIRECTORY include
+#   DESTINATION include
+# )
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -53,11 +53,11 @@ if(BUILD_TESTING)
 endif()
 
 add_executable(move_to_joint_states_action_server src/move_to_joint_states_action_server.cpp)
-target_include_directories(move_to_joint_states_action_server PRIVATE include)
+# target_include_directories(move_to_joint_states_action_server PRIVATE include)
 ament_target_dependencies(move_to_joint_states_action_server ${deps})
 
 add_executable(move_topose_action_server src/move_topose_action_server.cpp)
-target_include_directories(move_topose_action_server PRIVATE include)
+# target_include_directories(move_topose_action_server PRIVATE include)
 ament_target_dependencies(move_topose_action_server ${deps})
 
 install(
diff --git a/robossembler_servers/package.xml b/robossembler_servers/package.xml
index 9eba1af..cb20723 100644
--- a/robossembler_servers/package.xml
+++ b/robossembler_servers/package.xml
@@ -18,6 +18,7 @@
   <depend>rclcpp_action</depend>
   <depend>geometry_msgs</depend>
   <depend>action_msgs</depend>
+  <depend>robossembler_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>