diff --git a/urdf/test/two_links_one_joint.urdf b/urdf/test/two_links_one_joint.urdf
new file mode 100644
index 0000000..e1e0062
--- /dev/null
+++ b/urdf/test/two_links_one_joint.urdf
@@ -0,0 +1,19 @@
+<?xml verison="1.0"?>
+<robot name="no_visual">
+  <link name="link1">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1" iyy="1" izz="1" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <link name="link2">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1" iyy="1" izz="1" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <joint name="joint12" type="fixed">
+    <parent link="link1"/>
+    <child link="link2"/>
+  </link>
+</robot>