diff --git a/generated_materials/camera_path_depth.json b/generated_materials/camera_path_depth.json
index 278acc26413e93dcd74528d9f6f0e64689d14902..0b1a73e9949836eccd1ada270f72e05719914572 100644
--- a/generated_materials/camera_path_depth.json
+++ b/generated_materials/camera_path_depth.json
@@ -8,22 +8,22 @@
             "aspect": 1.33333333333,
             "camera_to_world": [
                 [
-                    -0.5864376195618306,
-                    0.29104753718687776,
-                    -0.7558983062953022,
-                    -0.2832813335422174
+                    -0.848238288049699,
+                    0.21349126112248315,
+                    -0.48467854100511626,
+                    -0.14224136496708473
                 ],
                 [
-                    -0.8096524572344355,
-                    -0.18351676230420205,
-                    0.5574804897461648,
-                    -0.16196170949416663
+                    -0.5266080387192569,
+                    -0.24261177561480995,
+                    0.8147536436796631,
+                    0.05666580051652575
                 ],
                 [
-                    0.023533313767811814,
-                    0.9389424524702438,
-                    0.3432684868907569,
-                    -0.09978051483234415
+                    0.05635406145766281,
+                    0.9463408517851067,
+                    0.3182188115116156,
+                    -0.10524663656992898
                 ],
                 [
                     0.0,
diff --git a/generated_materials/camera_path_rgb.json b/generated_materials/camera_path_rgb.json
index 278acc26413e93dcd74528d9f6f0e64689d14902..0b1a73e9949836eccd1ada270f72e05719914572 100644
--- a/generated_materials/camera_path_rgb.json
+++ b/generated_materials/camera_path_rgb.json
@@ -8,22 +8,22 @@
             "aspect": 1.33333333333,
             "camera_to_world": [
                 [
-                    -0.5864376195618306,
-                    0.29104753718687776,
-                    -0.7558983062953022,
-                    -0.2832813335422174
+                    -0.848238288049699,
+                    0.21349126112248315,
+                    -0.48467854100511626,
+                    -0.14224136496708473
                 ],
                 [
-                    -0.8096524572344355,
-                    -0.18351676230420205,
-                    0.5574804897461648,
-                    -0.16196170949416663
+                    -0.5266080387192569,
+                    -0.24261177561480995,
+                    0.8147536436796631,
+                    0.05666580051652575
                 ],
                 [
-                    0.023533313767811814,
-                    0.9389424524702438,
-                    0.3432684868907569,
-                    -0.09978051483234415
+                    0.05635406145766281,
+                    0.9463408517851067,
+                    0.3182188115116156,
+                    -0.10524663656992898
                 ],
                 [
                     0.0,
diff --git a/nerf_sim/pose_generator.py b/helper_nodes/pose_generator.py
similarity index 100%
rename from nerf_sim/pose_generator.py
rename to helper_nodes/pose_generator.py
diff --git a/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc b/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc
index cd736e8dc02aa4cc87b2f6e2e7d69a4ccc1d9257..8335d3fe421797ebae043721606ec3982b4849cb 100644
Binary files a/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc and b/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc differ
diff --git a/launch/basic_sim_example_launch.py b/launch/basic_sim_example_launch.py
index 21733ffecf51eb46544baa7036018fa524702f83..7a9372842840439c15ce507e782e3e5fe303e5c6 100644
--- a/launch/basic_sim_example_launch.py
+++ b/launch/basic_sim_example_launch.py
@@ -24,8 +24,8 @@ def generate_launch_description():
         ),
         Node(
             package='nerf_sim',
-            executable='pcd_generator',
-            name='pcd_generator'
+            executable='sim_pcd_generator',
+            name='sim_pcd_generator'
         ),
         Node(
             package='rviz2',
diff --git a/nerf_sim/__pycache__/nerf_render.cpython-310.pyc b/nerf_sim/__pycache__/nerf_render.cpython-310.pyc
index 7b6193e84355ea083960aac2af291f6d80411378..2b984416956732828759a50a5db71aba45abbe89 100644
Binary files a/nerf_sim/__pycache__/nerf_render.cpython-310.pyc and b/nerf_sim/__pycache__/nerf_render.cpython-310.pyc differ
diff --git a/nerf_sim/__pycache__/render_lidar.cpython-310.pyc b/nerf_sim/__pycache__/render_lidar.cpython-310.pyc
index 4b60e6de2f8acc2f8db6c5157b35032574502dfa..cb147324dd8855f87567e37bc935842ba56279f5 100644
Binary files a/nerf_sim/__pycache__/render_lidar.cpython-310.pyc and b/nerf_sim/__pycache__/render_lidar.cpython-310.pyc differ
diff --git a/nerf_sim/__pycache__/sim_depth_generator.cpython-310.pyc b/nerf_sim/__pycache__/sim_depth_generator.cpython-310.pyc
index 2bf63e627516f78f0525992fe760c9869edf6d43..7c3f5aff2f4a7917332ad68f40691453724d9b66 100644
Binary files a/nerf_sim/__pycache__/sim_depth_generator.cpython-310.pyc and b/nerf_sim/__pycache__/sim_depth_generator.cpython-310.pyc differ
diff --git a/nerf_sim/__pycache__/sim_pcd_generator.cpython-310.pyc b/nerf_sim/__pycache__/sim_pcd_generator.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..a0b6f7418e72c0ea3a8bb7c1b348f4572bb0d868
Binary files /dev/null and b/nerf_sim/__pycache__/sim_pcd_generator.cpython-310.pyc differ
diff --git a/nerf_sim/__pycache__/sim_rgb_generator.cpython-310.pyc b/nerf_sim/__pycache__/sim_rgb_generator.cpython-310.pyc
index c6dc5064dc764c4c96e1a82dd5af22683aa27947..7d7cf05c0c7ab5b16e312d96fd25526bbefce58b 100644
Binary files a/nerf_sim/__pycache__/sim_rgb_generator.cpython-310.pyc and b/nerf_sim/__pycache__/sim_rgb_generator.cpython-310.pyc differ
diff --git a/nerf_sim/pcd_publisher_node.py b/nerf_sim/sim_pcd_generator.py
similarity index 98%
rename from nerf_sim/pcd_publisher_node.py
rename to nerf_sim/sim_pcd_generator.py
index 4b102b58fa6d3407b438271d48067a2585443dcf..031e155567c2d844ec0a36c576d55d72738eb903 100644
--- a/nerf_sim/pcd_publisher_node.py
+++ b/nerf_sim/sim_pcd_generator.py
@@ -12,7 +12,7 @@ from geometry_msgs.msg import Pose
 import numpy as np
 import open3d as o3d
 
-class PCDPublisher(Node):
+class PCDGenerator(Node):
 
     def __init__(self):
         super().__init__('pcd_publisher_node')
@@ -85,7 +85,7 @@ def point_cloud(points, parent_frame):
 def main(args=None):
     # Boilerplate code.
     rclpy.init(args=args)
-    pcd_publisher = PCDPublisher()
+    pcd_publisher = PCDGenerator()
     rclpy.spin(pcd_publisher)
     
     # Destroy the node explicitly
diff --git a/setup.py b/setup.py
index 39277afe7e3111ea7c83678a9976d169445f0e50..3925c61a56184f8f57a56baf3a17529f545fdc0c 100644
--- a/setup.py
+++ b/setup.py
@@ -28,7 +28,7 @@ setup(
             'pose_generator = nerf_sim.pose_generator:main',
             'sim_rgb_generator = nerf_sim.sim_rgb_generator:main',
             'sim_depth_generator = nerf_sim.sim_depth_generator:main',
-            'pcd_generator = nerf_sim.pcd_publisher_node:main',
+            'sim_pcd_generator = nerf_sim.sim_pcd_generator:main',
         ],
     },
 )