diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 60d7c7e..aac56a9 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -3,9 +3,11 @@ name: Humble Binary Build
 on:
   push:
     branches:
+      - humble-v1
       - humble
   pull_request:
     branches:
+      - humble-v1
       - humble
       - release/humble-*
 
diff --git a/flexiv.humble.repos b/flexiv.humble.repos
index c1c9a06..4b7fb5e 100644
--- a/flexiv.humble.repos
+++ b/flexiv.humble.repos
@@ -2,7 +2,7 @@ repositories:
   flexiv_description:
     type: git
     url: https://github.com/flexivrobotics/flexiv_description.git
-    version: humble
+    version: humble-v2.0
   flexiv_rdk:
     type: git
     url: https://github.com/flexivrobotics/flexiv_rdk.git