diff --git a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
index 73c8b99..26dbf1c 100644
--- a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
+++ b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
@@ -17,7 +17,7 @@
         <hardware>
           <param name="arm_type">${arm_type}</param>
           <xacro:if value="${use_fake_hardware}">
-            <plugin>fake_components/GenericSystem</plugin>
+            <plugin>mock_components/GenericSystem</plugin>
             <param name="fake_sensor_commands">${fake_sensor_commands}</param>
             <param name="state_following_offset">0.0</param>
           </xacro:if>
@@ -68,7 +68,7 @@
         <hardware>
           <param name="arm_type">${arm_type}</param>
           <xacro:if value="${use_fake_hardware}">
-            <plugin>fake_components/GenericSystem</plugin>
+            <plugin>mock_components/GenericSystem</plugin>
             <param name="fake_sensor_commands">${fake_sensor_commands}</param>
             <param name="state_following_offset">0.0</param>
           </xacro:if>
diff --git a/urdf/ros2_control/openarm.ros2_control.xacro b/urdf/ros2_control/openarm.ros2_control.xacro
index 553f767..18c2352 100644
--- a/urdf/ros2_control/openarm.ros2_control.xacro
+++ b/urdf/ros2_control/openarm.ros2_control.xacro
@@ -17,7 +17,7 @@
           <param name="arm_type">${arm_type}</param>
           <param name="prefix">${arm_prefix}</param>
           <xacro:if value="${use_fake_hardware}">
-            <plugin>fake_components/GenericSystem</plugin>
+            <plugin>mock_components/GenericSystem</plugin>
             <param name="fake_sensor_commands">${fake_sensor_commands}</param>
             <param name="state_following_offset">0.0</param>
           </xacro:if>