diff --git a/mp_bringup/configs/ur/simulation_controllers.yaml b/mp_bringup/configs/ur/simulation_controllers.yaml
index 18dca2a..f0a707a 100644
--- a/mp_bringup/configs/ur/simulation_controllers.yaml
+++ b/mp_bringup/configs/ur/simulation_controllers.yaml
@@ -28,10 +28,10 @@ controller_manager:
       type: position_controllers/JointGroupPositionController
 
     robotiq_2f_140_gripper_controller:
-      type: position_controllers/GripperActionController
+      type: parallel_gripper_action_controller/GripperActionController
 
     robotiq_2f_85_gripper_controller:
-      type: position_controllers/GripperActionController
+      type: parallel_gripper_action_controller/GripperActionController
 
 speed_scaling_state_broadcaster:
   ros__parameters: