diff --git a/urdf/test/singularity.urdf b/urdf/test/singularity.urdf
index f86fa92..ed91f44 100644
--- a/urdf/test/singularity.urdf
+++ b/urdf/test/singularity.urdf
@@ -16,7 +16,7 @@
     <parent link="link1"/>
     <child link="link2"/>
     <origin xyz="0 0 0" rpy="1.0 1.5707963267948966 0.5707963267948966"/>
-  </link>
+  </joint>
   <link name="link3">
     <inertial>
       <mass value="1"/>
@@ -27,5 +27,5 @@
     <parent link="link2"/>
     <child link="link3"/>
     <origin xyz="0 0 0" rpy="1.5707963267948966 1.5707963267948966 1.5707963267948966"/>
-  </link>
+  </joint>
 </robot>
diff --git a/urdf/test/two_links_one_joint.urdf b/urdf/test/two_links_one_joint.urdf
index e1e0062..85e94a3 100644
--- a/urdf/test/two_links_one_joint.urdf
+++ b/urdf/test/two_links_one_joint.urdf
@@ -15,5 +15,5 @@
   <joint name="joint12" type="fixed">
     <parent link="link1"/>
     <child link="link2"/>
-  </link>
+  </joint>
 </robot>