diff --git a/test/test_ur_urdf_xacro.py b/test/test_ur_urdf_xacro.py
index b19428d..fd837b2 100644
--- a/test/test_ur_urdf_xacro.py
+++ b/test/test_ur_urdf_xacro.py
@@ -32,20 +32,23 @@
 import shutil
 import subprocess
 import tempfile
+import pytest
 
 from ament_index_python.packages import get_package_share_directory
 
 
-def test_ur_urdf_xacro():
+@pytest.mark.parametrize(
+    "ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"]
+)
+@pytest.mark.parametrize("description_file", ["ur.urdf.xacro", "ur_mocked.urdf.xacro"])
+@pytest.mark.parametrize("prefix", ["", "my_ur_"])
+def test_ur_urdf_xacro(ur_type, description_file, prefix):
     # Initialize Arguments
-    ur_type = "ur3"
     safety_limits = "true"
     safety_pos_margin = "0.15"
     safety_k_position = "20"
     # General Arguments
     description_package = "ur_description"
-    description_file = "ur.urdf.xacro"
-    prefix = '""'
 
     joint_limit_params = os.path.join(
         get_package_share_directory(description_package), "config", ur_type, "joint_limits.yaml"