diff --git a/tests/test_kinematics.py b/tests/test_kinematics.py
index 6e281b7..bd03aa4 100644
--- a/tests/test_kinematics.py
+++ b/tests/test_kinematics.py
@@ -150,9 +150,9 @@ def test_fk_simple_arm():
     # print(chain.get_joint_parameter_names())
     ret = chain.forward_kinematics({
         'arm_shoulder_pan_joint': 0.,
-        'arm_elbow_pan_joint':    math.pi / 2.0,
-        'arm_wrist_lift_joint':   -0.5,
-        'arm_wrist_roll_joint':   0.,
+        'arm_elbow_pan_joint': math.pi / 2.0,
+        'arm_wrist_lift_joint': -0.5,
+        'arm_wrist_roll_joint': 0.,
     })
     tg = ret['arm_wrist_roll']
     pos, rot = quat_pos_from_transform3d(tg)
@@ -189,9 +189,9 @@ def test_cuda():
 
         ret = chain.forward_kinematics({
             'arm_shoulder_pan_joint': 0,
-            'arm_elbow_pan_joint':    math.pi / 2.0,
-            'arm_wrist_lift_joint':   -0.5,
-            'arm_wrist_roll_joint':   0,
+            'arm_elbow_pan_joint': math.pi / 2.0,
+            'arm_wrist_lift_joint': -0.5,
+            'arm_wrist_roll_joint': 0,
         })
         tg = ret['arm_wrist_roll']
         pos, rot = quat_pos_from_transform3d(tg)
@@ -280,6 +280,28 @@ def test_fk_partial_batched():
     tg = chain.forward_kinematics(th)
 
 
+def test_ur5_fk():
+    pk_chain = pk.build_serial_chain_from_urdf(open('ur5.urdf').read(), 'ee_link', 'base_link')
+    th = [0.0, -math.pi / 4.0, 0.0, math.pi / 2.0, 0.0, math.pi / 4.0]
+
+    try:
+        import ikpy.chain
+        ik_chain = ikpy.chain.Chain.from_urdf_file('ur5.urdf',
+                                                   active_links_mask=[False, True, True, True, True, True, True, False])
+        ik_ret = ik_chain.forward_kinematics([0, *th, 0])
+    except ImportError:
+        ik_ret = [[-6.44330720e-18, 3.58979314e-09, -1.00000000e+00, 5.10955359e-01],
+                  [1.00000000e+00, 1.79489651e-09, 0.00000000e+00, 1.91450000e-01],
+                  [1.79489651e-09, -1.00000000e+00, -3.58979312e-09, 6.00114361e-01],
+                  [0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]
+
+    ret = pk_chain.forward_kinematics(th, end_only=True)
+    print(ret.get_matrix())
+    ik_ret = torch.tensor(ik_ret, dtype=ret.dtype)
+    print(ik_ret)
+    assert torch.allclose(ik_ret, ret.get_matrix(), atol=1e-6)
+
+
 if __name__ == "__main__":
     test_fk_partial_batched()
     test_fk_partial_batched_dict()
@@ -293,3 +315,4 @@ def test_fk_partial_batched():
     test_urdf()
     # test_fk_mjcf_humanoid()
     test_mjcf_slide_joint_parsing()
+    test_ur5_fk()
diff --git a/tests/ur5.urdf b/tests/ur5.urdf
new file mode 100644
index 0000000..59242bc
--- /dev/null
+++ b/tests/ur5.urdf
@@ -0,0 +1,305 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ur5_joint_limited_box_robot_robotiq3.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ur5" xmlns:xacro="http://ros.org/wiki/xacro">
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="ros_control">
+      <!--robotNamespace>/</robotNamespace-->
+      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
+    </plugin>
+    <!--
+    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>1.0</updateRate>
+      <timeout>5</timeout>
+      <powerStateTopic>power_state</powerStateTopic>
+      <powerStateRate>10.0</powerStateRate>
+      <fullChargeCapacity>87.78</fullChargeCapacity>     
+      <dischargeRate>-474</dischargeRate>
+      <chargeRate>525</chargeRate>
+      <dischargeVoltage>15.52</dischargeVoltage>
+      <chargeVoltage>16.41</chargeVoltage>
+    </plugin>
+-->
+  </gazebo>
+  <!-- measured from model -->
+  <!--property name="shoulder_height" value="0.089159" /-->
+  <!--property name="shoulder_offset" value="0.13585" /-->
+  <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
+  <!--property name="upper_arm_length" value="0.42500" /-->
+  <!--property name="elbow_offset" value="0.1197" /-->
+  <!-- CAD measured -->
+  <!--property name="forearm_length" value="0.39225" /-->
+  <!--property name="wrist_1_length" value="0.093" /-->
+  <!-- CAD measured -->
+  <!--property name="wrist_2_length" value="0.09465" /-->
+  <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
+  <!--property name="wrist_3_length" value="0.0823" /-->
+  <!-- manually measured -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="shoulder_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
+    </inertial>
+  </link>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
+    <!-- <limit effort="150.0" lower="-3.14159265" upper="-0.8" velocity="3.15"/> -->
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="upper_arm_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
+      <inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="forearm_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
+      <inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="wrist_1_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
+    </inertial>
+  </link>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="wrist_2_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
+    </inertial>
+  </link>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="wrist_3_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
+    </inertial>
+  </link>
+  <joint name="ee_fixed_joint" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="ee_link"/>
+    <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
+  </joint>
+  <link name="ee_link">
+    <collision>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+    </collision>
+  </link>
+  <!-- Frame coincident with all-zeros TCP on UR controller -->
+  <link name="tool0"/>
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
+    <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
+    <parent link="wrist_3_link"/>
+    <child link="tool0"/>
+  </joint>
+  <transmission name="shoulder_pan_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_pan_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="shoulder_pan_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="shoulder_lift_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_lift_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="shoulder_lift_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="elbow_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="elbow_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="elbow_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_1_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_1_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_2_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_2_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_3_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_3_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+</robot>
+