diff --git a/schunk_pg70/launch/sim.launch b/schunk_pg70/launch/sim.launch
index 659df7e..100d5a0 100644
--- a/schunk_pg70/launch/sim.launch
+++ b/schunk_pg70/launch/sim.launch
@@ -9,31 +9,31 @@
     <arg name="gui" value="$(arg gui)" />
   </include>
 
-  <!-- send lwa4d urdf to param server -->
+  <!-- send pg70 urdf to param server -->
   <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find schunk_pg70)/urdf/robot.urdf.xacro'" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model lwa4d -z 0.01 " respawn="false" output="screen" />
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model pg70 -z 0.01 " respawn="false" output="screen" />
 
   <!-- robot state publisher -->
-  <node ns="gripper" pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+  <node ns="pg70" pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
       <param name="publish_frequency" type="double" value="50.0" />
       <param name="tf_prefix" type="string" value="" />
   </node>
 
   <!-- fake Calibration and HW-Services -->
   <node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />
-  <node ns="gripper" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
+  <node ns="pg70" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
 
   <!-- controllers -->
-  <rosparam ns="gripper" command="load" file="$(find schunk_pg70)/config/gripper_controller.yaml" />
+  <rosparam ns="pg70" command="load" file="$(find schunk_pg70)/config/gripper_controller.yaml" />
 
   <!-- start_controllers -->
-  <node ns="gripper" name="gripper_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
+  <node ns="pg70" name="gripper_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
 
   <!-- control_mode_adapter -->
-  <node ns="gripper" name="cob_control_mode_adapter_node" pkg="cob_control_mode_adapter" type="cob_control_mode_adapter_node" cwd="node" respawn="false" output="screen"/>
-  <node ns="gripper" name="joint_states_relay" pkg="topic_tools" type="relay" args="joint_states /joint_states" cwd="node" respawn="true" output="screen"/>
+  <node ns="pg70" name="cob_control_mode_adapter_node" pkg="cob_control_mode_adapter" type="cob_control_mode_adapter_node" cwd="node" respawn="false" output="screen"/>
+  <node ns="pg70" name="joint_states_relay" pkg="topic_tools" type="relay" args="joint_states /joint_states" cwd="node" respawn="true" output="screen"/>
 
   <!-- start diagnostics -->
   <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >