diff --git a/bt_sim_node.py b/bt_sim_node.py
index c8fee84..8ade65c 100755
--- a/bt_sim_node.py
+++ b/bt_sim_node.py
@@ -16,7 +16,7 @@ from robot_utils.controllers import CartesianPoseController
 from robot_utils.ros.conversions import *
 from robot_utils.ros.tf import TransformTree
 
-from simulation import BtPandaEnv
+from simulation import BtPandaSim
 
 CONTROLLER_UPDATE_RATE = 60
 JOINT_PUBLISH_RATE = 60
@@ -25,7 +25,7 @@ CAM_PUBLISH_RATE = 5
 
 class BtSimNode:
     def __init__(self, gui):
-        self.sim = BtPandaEnv(gui=gui, sleep=False)
+        self.sim = BtPandaSim(gui=gui, sleep=False)
         self.controller = CartesianPoseController(self.sim.arm)
         self.cv_bridge = cv_bridge.CvBridge()
         self.tf_tree = TransformTree()
diff --git a/simulation.py b/simulation.py
index d63eb7b..1e2aae5 100644
--- a/simulation.py
+++ b/simulation.py
@@ -4,7 +4,7 @@ from robot_utils.btsim import *
 from robot_utils.spatial import Rotation, Transform
 
 
-class BtPandaEnv(BtBaseEnv):
+class BtPandaSim(BtSim):
     def __init__(self, gui=True, sleep=True):
         super().__init__(gui, sleep)
         p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)