diff --git a/crates/control/src/motion/dispatching_interpolator.rs b/crates/control/src/motion/dispatching_interpolator.rs
index 4350c0350c..ad121d51cc 100644
--- a/crates/control/src/motion/dispatching_interpolator.rs
+++ b/crates/control/src/motion/dispatching_interpolator.rs
@@ -38,10 +38,10 @@ pub struct CycleContext {
     stand_up_front_positions: Input<Joints<f32>, "stand_up_front_positions">,
     stand_up_sitting_positions: Input<Joints<f32>, "stand_up_sitting_positions">,
     wide_stance_positions: Input<Joints<f32>, "wide_stance_positions">,
-    keeper_jump_left_motor_command:
-        Input<MotorCommands<Joints<f32>>, "keeper_jump_left_motor_command">,
-    keeper_jump_right_motor_command:
-        Input<MotorCommands<Joints<f32>>, "keeper_jump_right_motor_command">,
+    keeper_jump_left_motor_commands:
+        Input<MotorCommands<Joints<f32>>, "keeper_jump_left_motor_commands">,
+    keeper_jump_right_motor_commands:
+        Input<MotorCommands<Joints<f32>>, "keeper_jump_right_motor_commands">,
     walk_motor_commands: Input<MotorCommands<BodyJoints<f32>>, "walk_motor_commands">,
 
     initial_pose: Parameter<Joints<f32>, "initial_pose">,
@@ -109,8 +109,8 @@ impl DispatchingInterpolator {
                 MotionType::StandUpFront => *context.stand_up_front_positions,
                 MotionType::StandUpSitting => *context.stand_up_sitting_positions,
                 MotionType::WideStance => *context.wide_stance_positions,
-                MotionType::KeeperJumpLeft => context.keeper_jump_left_motor_command.positions,
-                MotionType::KeeperJumpRight => context.keeper_jump_right_motor_command.positions,
+                MotionType::KeeperJumpLeft => context.keeper_jump_left_motor_commands.positions,
+                MotionType::KeeperJumpRight => context.keeper_jump_right_motor_commands.positions,
                 MotionType::CenterJump => *context.center_jump_positions,
                 MotionType::Unstiff => panic!("Dispatching Unstiff doesn't make sense"),
                 MotionType::Animation => context.animation_commands.positions,
diff --git a/crates/control/src/motion/keeper_jump_left.rs b/crates/control/src/motion/keeper_jump_left.rs
index 79aacd0635..a50a1a0c1b 100644
--- a/crates/control/src/motion/keeper_jump_left.rs
+++ b/crates/control/src/motion/keeper_jump_left.rs
@@ -34,7 +34,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub keeper_jump_left_motor_command: MainOutput<MotorCommands<Joints<f32>>>,
+    pub keeper_jump_left_motor_commands: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl KeeperJumpLeft {
@@ -49,6 +49,7 @@ impl KeeperJumpLeft {
     pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> {
         let last_cycle_duration = context.cycle_time.last_cycle_duration;
         let condition_input = context.condition_input;
+
         if context.motion_selection.current_motion == MotionType::KeeperJumpLeft {
             self.interpolator
                 .advance_by(last_cycle_duration, condition_input);
@@ -58,7 +59,7 @@ impl KeeperJumpLeft {
         context.motion_safe_exits[MotionType::KeeperJumpLeft] = self.interpolator.is_finished();
 
         Ok(MainOutputs {
-            keeper_jump_left_motor_command: self.interpolator.value().mirrored().into(),
+            keeper_jump_left_motor_commands: self.interpolator.value().mirrored().into(),
         })
     }
 }
diff --git a/crates/control/src/motion/keeper_jump_right.rs b/crates/control/src/motion/keeper_jump_right.rs
index a27b8d7151..a03fea0c64 100644
--- a/crates/control/src/motion/keeper_jump_right.rs
+++ b/crates/control/src/motion/keeper_jump_right.rs
@@ -34,7 +34,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub keeper_jump_right_motor_command: MainOutput<MotorCommands<Joints<f32>>>,
+    pub keeper_jump_right_motor_commands: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl KeeperJumpRight {
@@ -49,6 +49,7 @@ impl KeeperJumpRight {
     pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> {
         let last_cycle_duration = context.cycle_time.last_cycle_duration;
         let condition_input = context.condition_input;
+
         if context.motion_selection.current_motion == MotionType::KeeperJumpRight {
             self.interpolator
                 .advance_by(last_cycle_duration, condition_input);
@@ -58,7 +59,7 @@ impl KeeperJumpRight {
         context.motion_safe_exits[MotionType::KeeperJumpRight] = self.interpolator.is_finished();
 
         Ok(MainOutputs {
-            keeper_jump_right_motor_command: self.interpolator.value().into(),
+            keeper_jump_right_motor_commands: self.interpolator.value().into(),
         })
     }
 }
diff --git a/crates/control/src/motion/motor_commands_collector.rs b/crates/control/src/motion/motor_commands_collector.rs
index 4461f9781d..a609bb2990 100644
--- a/crates/control/src/motion/motor_commands_collector.rs
+++ b/crates/control/src/motion/motor_commands_collector.rs
@@ -42,10 +42,10 @@ pub struct CycleContext {
     stand_up_front_positions: Input<Joints<f32>, "stand_up_front_positions">,
     stand_up_sitting_positions: Input<Joints<f32>, "stand_up_sitting_positions">,
     wide_stance_positions: Input<Joints<f32>, "wide_stance_positions">,
-    keeper_jump_left_motor_command:
-        Input<MotorCommands<Joints<f32>>, "keeper_jump_left_motor_command">,
-    keeper_jump_right_motor_command:
-        Input<MotorCommands<Joints<f32>>, "keeper_jump_right_motor_command">,
+    keeper_jump_left_motor_commands:
+        Input<MotorCommands<Joints<f32>>, "keeper_jump_left_motor_commands">,
+    keeper_jump_right_motor_commands:
+        Input<MotorCommands<Joints<f32>>, "keeper_jump_right_motor_commands">,
     center_jump_positions: Input<Joints<f32>, "center_jump_positions">,
     walk_motor_commands: Input<MotorCommands<BodyJoints<f32>>, "walk_motor_commands">,
     cycle_time: Input<CycleTime, "cycle_time">,
@@ -90,8 +90,8 @@ impl MotorCommandCollector {
         let stand_up_front_positions = context.stand_up_front_positions;
         let stand_up_sitting_positions = context.stand_up_sitting_positions;
         let wide_stance_positions = context.wide_stance_positions;
-        let keeper_jump_left = context.keeper_jump_left_motor_command;
-        let keeper_jump_right = context.keeper_jump_right_motor_command;
+        let keeper_jump_left = context.keeper_jump_left_motor_commands;
+        let keeper_jump_right = context.keeper_jump_right_motor_commands;
         let walk = context.walk_motor_commands;
 
         let (positions, stiffnesses) = match motion_selection.current_motion {