docs: finish rename leftovers (BAR prose, bar-app, CSS tokens)

README.md

@@ -1,7 +1,7 @@
 # Humanoid-Control-Website
 
 Documentation site for [`humanoid_control`](https://github.com/Berkeley-Humanoids/humanoid_control) — the
-Berkeley Architecture Research (BAR) humanoid low-level control stack.
+Berkeley Humanoids (humanoid_control) humanoid low-level control stack.
 
 Built with [Docusaurus 3](https://docusaurus.io/) + `@docusaurus/theme-mermaid`
 for source-controlled diagrams of the control flow, FSM, and package

docs/concepts/mit_command_surface.md

@@ -4,7 +4,7 @@ title: MIT command surface
 
 # MIT command surface
 
-Every joint in BAR — Robstride, Sito, MujocoSystem, mock — exposes the
+Every joint in humanoid_control — Robstride, Sito, MujocoSystem, mock — exposes the
 same **5 command interfaces** and **3 state interfaces**. This page
 explains what those interfaces mean, how they combine into a single
 torque, and why the same convention is used across silicon and

docs/concepts/prime_hybrid_actuation.md

@@ -4,7 +4,7 @@ title: Prime hybrid actuation
 
 # Prime hybrid actuation
 
-BAR Prime is the bimanual humanoid. The **waist is dropped** this version
+humanoid_control Prime is the bimanual humanoid. The **waist is dropped** this version
 (rigid torso, no waist drives), leaving **14 actuated DoF** — 7 per arm.
 What makes Prime different from Lite is that those 14 joints live on **two
 different buses, driven by two different actuator families**, yet present a

docs/getting_started/installation.md

@@ -1,6 +1,6 @@
 # Installation
 
-There are two ways to get BAR onto your machine:
+There are two ways to get humanoid_control onto your machine:
 
 - **Install the prebuilt packages (recommended)** — pull the `ros-jazzy-humanoid-control-*`
   conda packages straight from the [`berkeley-humanoids`](https://prefix.dev/channels/berkeley-humanoids)
@@ -19,7 +19,7 @@ every developer machine and on the Jetson.
 
 | Item | Required | Reason |
 |---|---|---|
-| 64-bit Linux | yes | BAR targets `linux-64` / `linux-aarch64`. macOS and Windows are not supported (SocketCAN + PREEMPT_RT are Linux-only). |
+| 64-bit Linux | yes | humanoid_control targets `linux-64` / `linux-aarch64`. macOS and Windows are not supported (SocketCAN + PREEMPT_RT are Linux-only). |
 | pixi ≥ 0.30 | yes | manages every other dependency |
 | Display server | for sim | `mujoco_sim` opens a GLFW window (source build only, today) |
 | PREEMPT_RT kernel | recommended | hard real-time guarantees on real hardware |
@@ -51,22 +51,22 @@ shell rc. Restart your shell (or `source ~/.bashrc`) so `pixi` resolves.
 
 ## Install the prebuilt packages (recommended)
 
-The BAR packages are published as conda packages on the
+The humanoid_control packages are published as conda packages on the
 [`berkeley-humanoids`](https://prefix.dev/channels/berkeley-humanoids) channel and rebuilt by
 the buildfarm on every release. You consume them like any other dependency.
 
 ### 1. Create a project and add the channel
 
 ```sh
-pixi init bar-app
-cd bar-app
+pixi init humanoid-control-app
+cd humanoid-control-app
 ```
 
-Open `bar-app/pixi.toml` and set the channels + the package(s) you want:
+Open `humanoid-control-app/pixi.toml` and set the channels + the package(s) you want:
 
 ```toml
 [workspace]
-name = "bar-app"
+name = "humanoid-control-app"
 channels = [
   "https://prefix.dev/berkeley-humanoids",
   "https://prefix.dev/robostack-jazzy",
@@ -212,7 +212,7 @@ colcon build --symlink-install --packages-skip-regex 'ethercat.*|humanoid_contro
 
 `pixi shell` sources the conda env and `humanoid_control_ws/install/setup.bash` once it
 exists, so `ros2`, `colcon`, and every console script land on `PATH`. The build
-covers the Lite path (every BAR + Pianist package plus the three `mujoco_*`
+covers the Lite path (every humanoid_control + Pianist package plus the three `mujoco_*`
 deps). `--symlink-install` means edits to launch / config / Python files are
 picked up without rebuilding. After the first successful build the install
 overlay is on `AMENT_PREFIX_PATH` automatically — pixi's `[activation]` block

docs/getting_started/intro.md

@@ -1,7 +1,7 @@
 # Introduction
 
 `humanoid_control` is the unified low-level control stack for the **Berkeley Architecture
-Research (BAR)** humanoid robots. It runs on **ROS 2 Jazzy under PREEMPT_RT**
+Research (humanoid_control)** humanoid robots. It runs on **ROS 2 Jazzy under PREEMPT_RT**
 (shipped via the [RoboStack](https://robostack.github.io) conda channel and
 pixi, no system-wide ROS install required) and targets two robots with **as
 much shared code as possible**.

docs/how_to/switch_controllers_manually.md

@@ -10,7 +10,7 @@ tests, or just verifying the underlying controller_manager service.
 This how-to walks the mode FSM via direct `ros2 control` calls.
 
 :::note[No gamepad? This is your mode-switch path.]
-BAR ships **no keyboard control** for the FSM — `mode_manager` reacts to a
+humanoid_control ships **no keyboard control** for the FSM — `mode_manager` reacts to a
 gamepad (`/joy`) only. On a dev or headless host without one, the
 `ros2 control` calls on this page **are** the supported way to drive modes
 by hand. (There used to be a planned `termios` keyboard reader; it was

docs/how_to/use_pixi_tasks.md

@@ -41,7 +41,7 @@ explicit `pixi shell` first.
 | `pixi run build` | `colcon build --symlink-install --packages-skip-regex 'ethercat.*\|humanoid_control_bringup_prime'` | Build the Lite path (skips the EtherCAT-linked Prime lane that has no conda recipe). |
 | `pixi run build-all` | `colcon build --symlink-install` | Same, but includes `humanoid_control_bringup_prime` and `ethercat_driver_ros2`. Requires `libethercat` installed on the host. |
 | `pixi run build-pkg <name>` | `colcon build --symlink-install --packages-select <name>` | Targeted rebuild of one package — fastest edit-loop while iterating. |
-| `pixi run test` | `colcon test --packages-skip-regex 'ethercat.*\|humanoid_control_bringup_prime\|mujoco_.*' --ctest-args -LE linter --event-handlers console_cohesion-` | Run BAR-owned tests; skips the vendored `mujoco_*` packages and the CMake-registered linters (which RoboStack ships at newer versions than apt-jazzy, so they'd diverge from the industrial_ci-on-humanoid_control source of truth). |
+| `pixi run test` | `colcon test --packages-skip-regex 'ethercat.*\|humanoid_control_bringup_prime\|mujoco_.*' --ctest-args -LE linter --event-handlers console_cohesion-` | Run humanoid_control-owned tests; skips the vendored `mujoco_*` packages and the CMake-registered linters (which RoboStack ships at newer versions than apt-jazzy, so they'd diverge from the industrial_ci-on-humanoid_control source of truth). |
 | `pixi run test-lint` | Same as `test`, but keeps the linters. | Use when you specifically want to see uncrustify / cpplint output locally. |
 | `pixi run test-results` | `colcon test-result --verbose` | Print the per-package test summary after `pixi run test`. |
 | `pixi run clean` | `rm -rf build install log` | Wipe the colcon overlay (leaves the source tree and `.pixi/` env alone). Handy after a package rename. |

docs/reference/launch_args.md

@@ -1,6 +1,6 @@
 # Launch args
 
-Every BAR bringup follows the same vocabulary. Each robot ships **two
+Every humanoid_control bringup follows the same vocabulary. Each robot ships **two
 parallel launches** — `real.launch.py` for silicon, `mujoco.launch.py` for
 MuJoCo physics. Operators pick the *launch file* rather than flipping a
 `use_fake_hardware` flag on a single one. The xacro still accepts

docs/reference/quick_reference.md

@@ -11,7 +11,7 @@ parameters. The cheat sheet you print or pin to a second monitor.
 Every link points at the page with the full details.
 
 All commands below assume you've entered the workspace env (e.g.
-`cd humanoid_control_ws && pixi shell`) so `ros2`, `colcon`, and the BAR console
+`cd humanoid_control_ws && pixi shell`) so `ros2`, `colcon`, and the humanoid_control console
 scripts are on `PATH`. Looking for one-line aliases (`pixi run
 launch-mujoco`, `pixi run build`, …)?  See
 [How-to → Workspace shortcuts with pixi](../how_to/use_pixi_tasks.md).

docusaurus.config.ts

@@ -52,7 +52,7 @@ const config: Config = {
     navbar: {
       title: 'humanoid_control',
       logo: {
-        alt: 'BAR humanoid logo',
+        alt: 'humanoid_control logo',
         src: 'img/logo.svg',
       },
       items: [
@@ -104,7 +104,7 @@ const config: Config = {
               href: 'https://github.com/Berkeley-Humanoids/humanoid_control',
             },
             {
-              label: 'Berkeley Architecture Research',
+              label: 'Berkeley Humanoids',
               href: 'https://github.com/Berkeley-Humanoids',
             },
           ],

package.json

@@ -2,7 +2,7 @@
   "name": "humanoid-control-website",
   "version": "0.0.1",
   "private": true,
-  "description": "Documentation site for humanoid_control — the BAR humanoid low-level control stack.",
+  "description": "Documentation site for humanoid_control — the humanoid_control humanoid low-level control stack.",
   "license": "BSD-3-Clause",
   "scripts": {
     "docusaurus": "docusaurus",

src/components/HomepageFeatures/styles.module.css

@@ -30,9 +30,9 @@
   font-size: 0.85rem;
   font-weight: 700;
   letter-spacing: 0.05em;
-  color: var(--bar-accent, #FDB515);
+  color: var(--hc-accent, #FDB515);
   padding: 0.15rem 0.5rem;
-  border: 1px solid var(--bar-accent, #FDB515);
+  border: 1px solid var(--hc-accent, #FDB515);
   border-radius: 4px;
   background: rgba(253, 181, 21, 0.08);
 }

src/css/custom.css

@@ -19,7 +19,7 @@
   --docusaurus-highlighted-code-line-bg: rgba(0, 50, 98, 0.10);
 
   /* Accent color used by tip admonitions, hover states. */
-  --bar-accent: #FDB515;
+  --hc-accent: #FDB515;
 }
 
 [data-theme='dark'] {
@@ -58,7 +58,7 @@ code, pre, .token {
 }
 
 /* Custom container the homepage uses for the hero accent on inline code. */
-.bar-mermaid-caption {
+.hc-mermaid-caption {
   text-align: center;
   font-size: 0.85rem;
   color: var(--ifm-color-emphasis-600);

src/pages/index.tsx

@@ -54,7 +54,7 @@ export default function Home(): ReactNode {
   return (
     <Layout
       title={`${siteConfig.title} — ${siteConfig.tagline}`}
-      description="Docs for humanoid_control, the BAR humanoid low-level control stack.">
+      description="Docs for humanoid_control, the humanoid_control humanoid low-level control stack.">
       <HomepageHeader />
       <main>
         <HomepageFeatures />