diff --git a/package.xml b/package.xml
index 12b6a79..83c45ae 100644
--- a/package.xml
+++ b/package.xml
@@ -10,7 +10,7 @@
     (training / deployment sim), and meshes. All artifacts are generated from
     Onshape CAD by the `robot_assets` Python tool; do not hand-edit them.
     ros2_control hardware plugins
-    (mock / mujoco_ros2_control / bar_robstride) are referenced by pluginlib
+    (mock / mujoco_ros2_control / humanoid_control_robstride) are referenced by pluginlib
     string only and are NOT build/exec dependencies of this package. This is an
     asset-only package: it ships no launch files or RViz configs (visualization
     and bringup are consumer concerns).
diff --git a/robot_assets/workflow/urdf_to_xacro.py b/robot_assets/workflow/urdf_to_xacro.py
index 0deb75f..fa7ccec 100644
--- a/robot_assets/workflow/urdf_to_xacro.py
+++ b/robot_assets/workflow/urdf_to_xacro.py
@@ -217,7 +217,7 @@ def _top_macro(robot: str, name: str) -> str:
 #   * ethercat : CiA402 servo on an EtherCAT ring -- position/effort + an
 #                <ec_module> with a per-joint slave_config; no can_id.
 #   * sito     : MIT motor on SocketCAN -- the MIT interface set + can_id/model/
-#                direction (read by bar_sito).
+#                direction (read by humanoid_control_sito).
 # Sim and mock still collapse to one combined MIT block so the shared controllers
 # (which claim the MIT surface) run unchanged. The ``args`` from ros2_control.json
 # drive the dispatch (master_id, sito_can_interface, backends, ec_control_frequency,
@@ -273,7 +273,7 @@ def _hybrid_ec_joint_macro(robot: str) -> str:
 
 def _hybrid_sito_joint_macro(robot: str, command: list[str], state: list[str]) -> str:
     return f"""  <!-- Sito joint on SocketCAN (MIT mode). Same interface surface as the combined
-       block; can_id / model / direction are read by bar_sito/SitoSystem. -->
+       block; can_id / model / direction are read by humanoid_control_sito/SitoSystem. -->
   <xacro:macro name="{robot}_sito_joint" params="name can_id model direction">
     <joint name="${{name}}">
 {_interface_lines(command, state)}
diff --git a/robots/lite_bimanual/cad/ros2_control.json b/robots/lite_bimanual/cad/ros2_control.json
index 14be609..449af16 100644
--- a/robots/lite_bimanual/cad/ros2_control.json
+++ b/robots/lite_bimanual/cad/ros2_control.json
@@ -9,7 +9,7 @@
     "backends": {
         "sim": "mujoco_ros2_control/MujocoSystem",
         "mock": "mock_components/GenericSystem",
-        "real": "bar_robstride/RobstrideSystem"
+        "real": "humanoid_control_robstride/RobstrideSystem"
     },
 
     "args": {
diff --git a/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro b/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
index ac7663c..f4a9295 100644
--- a/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
+++ b/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
@@ -113,7 +113,7 @@
                params="mode can_interface_left can_interface_right calibration_file">
     <ros2_control name="LiteLeftArm" type="system">
       <hardware>
-        <plugin>bar_robstride/RobstrideSystem</plugin>
+        <plugin>humanoid_control_robstride/RobstrideSystem</plugin>
         <param name="can_interface">${can_interface_left}</param>
         <param name="calibration_file">${calibration_file}</param>
       </hardware>
@@ -121,7 +121,7 @@
     </ros2_control>
     <ros2_control name="LiteRightArm" type="system">
       <hardware>
-        <plugin>bar_robstride/RobstrideSystem</plugin>
+        <plugin>humanoid_control_robstride/RobstrideSystem</plugin>
         <param name="can_interface">${can_interface_right}</param>
         <param name="calibration_file">${calibration_file}</param>
       </hardware>
diff --git a/robots/lite_dummy/cad/ros2_control.json b/robots/lite_dummy/cad/ros2_control.json
index 88759be..812a92a 100644
--- a/robots/lite_dummy/cad/ros2_control.json
+++ b/robots/lite_dummy/cad/ros2_control.json
@@ -9,7 +9,7 @@
     "backends": {
         "sim": "mujoco_ros2_control/MujocoSystem",
         "mock": "mock_components/GenericSystem",
-        "real": "bar_robstride/RobstrideSystem"
+        "real": "humanoid_control_robstride/RobstrideSystem"
     },
 
     "args": {
diff --git a/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro b/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro
index 20062ab..661f5cf 100644
--- a/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro
+++ b/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro
@@ -118,7 +118,7 @@
                params="mode can_interface_left can_interface_right calibration_file">
     <ros2_control name="LiteLeftArm" type="system">
       <hardware>
-        <plugin>bar_robstride/RobstrideSystem</plugin>
+        <plugin>humanoid_control_robstride/RobstrideSystem</plugin>
         <param name="can_interface">${can_interface_left}</param>
         <param name="calibration_file">${calibration_file}</param>
       </hardware>
@@ -126,7 +126,7 @@
     </ros2_control>
     <ros2_control name="LiteRightArm" type="system">
       <hardware>
-        <plugin>bar_robstride/RobstrideSystem</plugin>
+        <plugin>humanoid_control_robstride/RobstrideSystem</plugin>
         <param name="can_interface">${can_interface_right}</param>
         <param name="calibration_file">${calibration_file}</param>
       </hardware>
@@ -136,7 +136,7 @@
     <xacro:if value="${mode == 'arms_neck'}">
       <ros2_control name="LiteNeck" type="system">
         <hardware>
-          <plugin>bar_robstride/RobstrideSystem</plugin>
+          <plugin>humanoid_control_robstride/RobstrideSystem</plugin>
           <param name="can_interface">${can_interface_left}</param>
           <param name="calibration_file">${calibration_file}</param>
         </hardware>