diff --git a/src/elephant_robotics/agv_pro_description/urdf/agv_pro.gazebo.xacro b/src/elephant_robotics/agv_pro_description/urdf/agv_pro.gazebo.xacro
index 9a9f04c..0405521 100644
--- a/src/elephant_robotics/agv_pro_description/urdf/agv_pro.gazebo.xacro
+++ b/src/elephant_robotics/agv_pro_description/urdf/agv_pro.gazebo.xacro
@@ -8,21 +8,26 @@
     Per-wheel mecanum friction is emitted by the wheel macro when
     gazebo_ignition (sim) is true, so it is NOT repeated here.
 
-    controllers_file       : primary controller params (the AGV base controllers).
-    controllers_file_extra : OPTIONAL second params file, loaded into the SAME
-                             controller_manager. Used when the AGV is composed
-                             into a larger robot (e.g. a mobile manipulator) so
-                             the additional controllers (e.g. an arm_controller)
-                             share the single gz_ros2_control controller_manager.
-                             Empty by default -> standalone AGV unaffected.
+    controllers_file         : primary controller params (the AGV base controllers).
+    controllers_file_arm     : OPTIONAL per-function params files, each loaded into
+    controllers_file_gripper   the SAME controller_manager. Used when the AGV is
+                             composed into a larger robot (e.g. a mobile
+                             manipulator) so the additional controllers (e.g. an
+                             arm_controller / gripper_action_controller) share the
+                             single gz_ros2_control controller_manager. Named by
+                             function for clarity; empty by default -> standalone
+                             AGV unaffected.
   -->
-  <xacro:macro name="agv_pro_gazebo" params="prefix controllers_file controllers_file_extra:=''">
+  <xacro:macro name="agv_pro_gazebo" params="prefix controllers_file controllers_file_arm:='' controllers_file_gripper:=''">
     <gazebo>
       <plugin filename="gz_ros2_control-system"
         name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <parameters>${controllers_file}</parameters>
-        <xacro:if value="${controllers_file_extra != ''}">
-          <parameters>${controllers_file_extra}</parameters>
+        <xacro:if value="${controllers_file_arm != ''}">
+          <parameters>${controllers_file_arm}</parameters>
+        </xacro:if>
+        <xacro:if value="${controllers_file_gripper != ''}">
+          <parameters>${controllers_file_gripper}</parameters>
         </xacro:if>
       </plugin>
     </gazebo>
diff --git a/src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf.xacro b/src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf.xacro
index e4e7282..736da03 100644
--- a/src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf.xacro
+++ b/src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf.xacro
@@ -18,12 +18,16 @@
     <xacro:arg name="controllers_file" default="" />
     <xacro:property name="controllers_file" value="$(arg controllers_file)" />
 
-    <!-- Optional second controller params file, loaded into the SAME
-         gz_ros2_control controller_manager. Used when composing the AGV into a
-         larger robot (e.g. a mobile manipulator) so extra controllers share the
-         single controller_manager. Empty -> standalone behaviour unchanged. -->
-    <xacro:arg name="controllers_file_extra" default="" />
-    <xacro:property name="controllers_file_extra" value="$(arg controllers_file_extra)" />
+    <!-- Optional per-function controller params files, each loaded into the
+         SAME gz_ros2_control controller_manager. Used when composing the AGV
+         into a larger robot (e.g. a mobile manipulator) so its controllers
+         share the single controller_manager. Named by function for clarity;
+         empty -> standalone behaviour unchanged. -->
+    <xacro:arg name="controllers_file_arm" default="" />
+    <xacro:property name="controllers_file_arm" value="$(arg controllers_file_arm)" />
+
+    <xacro:arg name="controllers_file_gripper" default="" />
+    <xacro:property name="controllers_file_gripper" value="$(arg controllers_file_gripper)" />
 
     <link name="${prefix}base_footprint" />
 
@@ -154,7 +158,8 @@
     <xacro:if value="${sim}">
         <xacro:include filename="$(find agv_pro_description)/urdf/agv_pro.gazebo.xacro" />
         <xacro:agv_pro_gazebo prefix="${prefix}" controllers_file="${controllers_file}"
-            controllers_file_extra="${controllers_file_extra}" />
+            controllers_file_arm="${controllers_file_arm}"
+            controllers_file_gripper="${controllers_file_gripper}" />
     </xacro:if>
 
 </robot>
\ No newline at end of file