diff --git a/src/rai_sim/rai_sim/o3de/o3de_bridge.py b/src/rai_sim/rai_sim/o3de/o3de_bridge.py
index 596460d1..23dd59fa 100644
--- a/src/rai_sim/rai_sim/o3de/o3de_bridge.py
+++ b/src/rai_sim/rai_sim/o3de/o3de_bridge.py
@@ -335,7 +335,7 @@ def _try_service_call(
     # NOTE (mkotynia) probably to be refactored, other bridges may also want to use pose conversion to/from ROS2 format
     def _to_ros2_pose(self, pose: Pose) -> ROS2Pose:
         """
-        Converts pose in PoseModel format to pose in ROS2 Pose format.
+        Converts pose to pose in ROS2 Pose format.
         """
         position = Point(
             x=pose.translation.x, y=pose.translation.y, z=pose.translation.z
@@ -357,7 +357,7 @@ def _to_ros2_pose(self, pose: Pose) -> ROS2Pose:
 
     def _from_ros2_pose(self, pose: ROS2Pose) -> Pose:
         """
-        Converts ROS2 pose to PoseModel format
+        Converts ROS2Pose to Pose
         """
 
         translation = Translation(
@@ -387,7 +387,7 @@ def move_arm(
         """Moves arm to a given position
 
         Args:
-            pose (PoseModel): where to move arm
+            pose (Pose): where to move arm
             initial_gripper_state (bool): False means closed grip, True means open grip
             final_gripper_state (bool): False means closed grip, True means open grip
             frame_id (str): reference frame
diff --git a/src/rai_sim/rai_sim/simulation_bridge.py b/src/rai_sim/rai_sim/simulation_bridge.py
index 832eca4d..336406ad 100644
--- a/src/rai_sim/rai_sim/simulation_bridge.py
+++ b/src/rai_sim/rai_sim/simulation_bridge.py
@@ -246,7 +246,7 @@ def get_object_pose(self, entity: SpawnedEntity) -> Pose:
 
         Returns
         -------
-        PoseModel
+        Pose
             Object containing the entity's current pose.
         """
         pass
diff --git a/tests/rai_sim/test_o3de_bridge.py b/tests/rai_sim/test_o3de_bridge.py
index f82ee003..203977e7 100644
--- a/tests/rai_sim/test_o3de_bridge.py
+++ b/tests/rai_sim/test_o3de_bridge.py
@@ -192,7 +192,7 @@ def test_from_ros2_pose(self):
         orientation = Quaternion(x=0.1, y=0.2, z=0.3, w=0.4)
         ros2_pose = ROS2Pose(position=position, orientation=orientation)
 
-        # Convert to PoseModel
+        # Convert from ROS2Pose to Pose
         pose = self.bridge._from_ros2_pose(ros2_pose)
 
         # Check the conversion