diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.cpp b/source/RobotAPI/components/units/ForceTorqueUnit.cpp
index b5b4822eee5704a5144a3b28484a4030f6aa07a1..dd18a056d60b74988898c824235960f98f731c11 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.cpp
@@ -27,7 +27,7 @@ using namespace armarx;
 
 void ForceTorqueUnit::onInitComponent()
 {
-    listenerName = "ForceTorqueValues";
+    listenerName = getProperty<std::string>("ForceTorqueTopicName").getValue();
     offeringTopic(listenerName);
     onInitForceTorqueUnit();
 }
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h
index 86c708ae096048859e032bf3f67c5972415ff37f..c87a582e81b17632abdc593aef6b41df7b160662 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.h
@@ -43,6 +43,8 @@ namespace armarx
                 ComponentPropertyDefinitions(prefix)
             {
                 defineRequiredProperty<std::string>("AgentName", "Name of the agent for which the sensor values are provided");
+                defineOptionalProperty<std::string>("ForceTorqueTopicName","ForceTorqueValues", "Name of the topic on which the sensor values are provided");
+
 
                 // No required properties
             }
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
index 6eca3f82c630fee85ceed8f257a1d1a0f4bc5254..b0b046e1876a7258fdd121917c010da8e9fa7cb8 100644
--- a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
@@ -29,10 +29,10 @@
 namespace armarx
 {
 
-    MdiPlugin::MdiPlugin(){
+    SensorActorPlugin::SensorActorPlugin(){
         addWidget<TCPMover>();
         addWidget<ArmarXPlotter>();
     }
 
-    Q_EXPORT_PLUGIN2(armarX_gui_MdiPlugin, MdiPlugin)
+    Q_EXPORT_PLUGIN2(armarX_gui_SensorActorPlugin, SensorActorPlugin)
 }
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
index b4b92ba1806730c93587b564b063d1bf32cd2829..578cd8d4ae63a3e71e5182d5a70d80372cb80452 100644
--- a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
@@ -41,11 +41,11 @@ namespace armarx
      *
      * @see ArmarXPlotter
      */
-    class ARMARXCOMPONENT_IMPORT_EXPORT MdiPlugin :
+    class ARMARXCOMPONENT_IMPORT_EXPORT SensorActorPlugin :
             public ArmarXGuiPlugin
     {
     public:
-        MdiPlugin();
+        SensorActorPlugin();
     };
 
 }