diff --git a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
index 0c5a9338..14decd3c 100644
--- a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
+++ b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
@@ -39,7 +39,7 @@
           <param name="joint_states_topic">${isaac_joint_states}</param>
         </xacro:if>
         <xacro:if value="${use_fake_hardware}">
-          <plugin>fake_components/GenericSystem</plugin>
+          <plugin>mock_components/GenericSystem</plugin>
           <param name="fake_sensor_commands">${fake_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
diff --git a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
index d2abc199..eaeb63e6 100644
--- a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
+++ b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
@@ -39,7 +39,7 @@
           <param name="joint_states_topic">${isaac_joint_states}</param>
         </xacro:if>
         <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/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro
index 45628d19..8d14c4dc 100644
--- a/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro
+++ b/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro
@@ -39,7 +39,7 @@
           <param name="joint_states_topic">${isaac_joint_states}</param>
         </xacro:if>
         <xacro:if value="${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>