diff --git a/franka_gazebo/src/franka_gripper_sim.cpp b/franka_gazebo/src/franka_gripper_sim.cpp
index 96aca3de1..c9d4d32ca 100644
--- a/franka_gazebo/src/franka_gripper_sim.cpp
+++ b/franka_gazebo/src/franka_gripper_sim.cpp
@@ -29,8 +29,8 @@ bool FrankaGripperSim::init(hardware_interface::EffortJointInterface* hw, ros::N
   nh.param<double>("gripper_action/width_tolerance", this->tolerance_gripper_action_,
                    kDefaultGripperActionWidthTolerance);
   nh.param<double>("gripper_action/speed", this->speed_default_, kDefaultGripperActionSpeed);
-  nh.param<double>("grasp/resting_threshold", this->speed_threshold_, kGraspRestingThreshold);
-  nh.param<int>("grasp/consecutive_samples", this->speed_samples_, kGraspConsecutiveSamples);
+  nh.param<double>("resting_threshold", this->speed_threshold_, kGraspRestingThreshold);
+  nh.param<int>("consecutive_samples", this->speed_samples_, kGraspConsecutiveSamples);
 
   try {
     this->finger1_ = hw->getHandle(finger1);