The remains of the Castle can be visited
Hohenurach Castle (Ruin)

The Hohenurach ruin, a former hilltop castle, is located above the Erms Valley and the town of Bad Urach.
History+
The origins of Hohenurach Castle date back to between 1030 and 1050, when it was built by the Counts of Urach. Through the marriage of Count Egino IV to Agnes of Zähringen and the inheritance of the Duchy of Zähringen, the Urach family expanded their possessions. In 1239, the castle was pledged to the Counts of Württemberg, who acquired it completely by 1265. Under Count Ludwig I of Württemberg, extensive reconstruction and expansion took place in 1428. After the division of Württemberg, Hohenurach served as a residence for Ludwig's part of the territory.
Source: Wikipedia · Licence: CC BY-SA 4.0
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 48.4936, 9.3782