diff --git a/README.md b/README.md
index 8dcffb4..e4ad203 100644
--- a/README.md
+++ b/README.md
@@ -47,10 +47,6 @@ users an overview of the current released state.
 ## Known issues
 :warning: The UR5 (non-e-series) model seems to be broken at the moment. Please see [#34](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/issues/34) :warning:
 
-:construction: The UR20 has not been added, yet. There are a couple of things we want to change in
-this repo first. Please see
-[#35](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/issues/35) :construction:
-
 All other models should be working correctly.
 
 ## Using the repository
diff --git a/ur_simulation_gazebo/launch/ur_sim_control.launch.py b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
index 2dbe16d..f7b1f90 100644
--- a/ur_simulation_gazebo/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
@@ -178,7 +178,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
             default_value="ur5e",
         )
     )
diff --git a/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py b/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
index 4e02a03..9ef42cf 100644
--- a/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
+++ b/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
@@ -97,7 +97,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
             default_value="ur5e",
         )
     )