diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index df56acf..8adb070 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -195,7 +195,7 @@ 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", "ur30"],
             default_value="ur5e",
         )
     )
diff --git a/ur_simulation_gz/launch/ur_sim_moveit.launch.py b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
index 67a9716..e2989b3 100644
--- a/ur_simulation_gz/launch/ur_sim_moveit.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
@@ -96,7 +96,7 @@ 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", "ur30"],
             default_value="ur5e",
         )
     )
diff --git a/ur_simulation_gz/test/test_description.py b/ur_simulation_gz/test/test_description.py
index 25715e2..291a505 100644
--- a/ur_simulation_gz/test/test_description.py
+++ b/ur_simulation_gz/test/test_description.py
@@ -38,7 +38,7 @@
 
 
 @pytest.mark.parametrize(
-    "ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"]
+    "ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"]
 )
 @pytest.mark.parametrize("prefix", ["", "my_ur_"])
 def test_ur_urdf_xacro(ur_type, prefix):
diff --git a/ur_simulation_gz/urdf/ur_gz.urdf.xacro b/ur_simulation_gz/urdf/ur_gz.urdf.xacro
index 70c8f02..59a9587 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, ur10, ur10e, ur16e, ur20 -->
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, 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"/>