diff --git a/urdf/test/one_link.urdf b/urdf/test/one_link.urdf
new file mode 100644
index 0000000..15e64d5
--- /dev/null
+++ b/urdf/test/one_link.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>
+    <visual>
+      <geometry>
+        <box size="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>