diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index 2574349..d1e9632 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -210,6 +210,7 @@ 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 e19fe43..26528e2 100644
--- a/ur_simulation_gz/launch/ur_sim_moveit.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
@@ -93,6 +93,7 @@ def generate_launch_description():
                 "ur10e",
                 "ur12e",
                 "ur16e",
+                "ur15",
                 "ur20",
                 "ur30",
             ],
diff --git a/ur_simulation_gz/test/test_description.py b/ur_simulation_gz/test/test_description.py
index dcb2cf9..eeab24b 100644
--- a/ur_simulation_gz/test/test_description.py
+++ b/ur_simulation_gz/test/test_description.py
@@ -39,7 +39,20 @@
 
 @pytest.mark.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.parametrize("prefix", ["", "my_ur_"])
 def test_ur_urdf_xacro(ur_type, prefix):
diff --git a/ur_simulation_gz/test/test_gz.py b/ur_simulation_gz/test/test_gz.py
index cdfdf78..fbdf4f0 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():
diff --git a/ur_simulation_gz/urdf/ur_gz.urdf.xacro b/ur_simulation_gz/urdf/ur_gz.urdf.xacro
index 294eab1..e7a6087 100644
--- a/ur_simulation_gz/urdf/ur_gz.urdf.xacro
+++ b/ur_simulation_gz/urdf/ur_gz.urdf.xacro
@@ -7,7 +7,7 @@
 
   <xacro:include filename="$(find ur_simulation_gz)/urdf/ur_gz.ros2_control.xacro" />
 
-  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur20, ur30 -->
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur15, ur20, ur30 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
   <xacro:arg name="ur_type" default="ur5x"/>