diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index f41eaf4..d58f335 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -225,6 +225,7 @@ def generate_launch_description():
                 "ur10e",
                 "ur12e",
                 "ur16e",
+                "ur15",
                 "ur20",
                 "ur30",
             ],
diff --git a/ur_simulation_gz/launch/ur_sim_moveit.launch.py b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
index 623eca1..937a7af 100644
--- a/ur_simulation_gz/launch/ur_sim_moveit.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
@@ -106,6 +106,7 @@ def generate_launch_description():
                 "ur10e",
                 "ur12e",
                 "ur16e",
+                "ur15",
                 "ur20",
                 "ur30",
             ],
diff --git a/ur_simulation_gz/test/test_gz.py b/ur_simulation_gz/test/test_gz.py
index b2e2fad..c29efab 100644
--- a/ur_simulation_gz/test/test_gz.py
+++ b/ur_simulation_gz/test/test_gz.py
@@ -74,7 +74,7 @@
 # might change, once the gz launch system migration is done using gzserver and such....
 # @launch_testing.parametrize(
 # "ur_type",
-# ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur10", "ur10e", "ur12e", "ur16e", "ur20", "ur30"],
+# ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur10", "ur10e", "ur12e", "ur16e", "ur15", "ur20", "ur30"],
 # )
 @pytest.mark.launch_test
 def generate_test_description():