diff --git a/.github/workflows/pytest.yml b/.github/workflows/pytest.yml
index 5b71c543..7131a243 100644
--- a/.github/workflows/pytest.yml
+++ b/.github/workflows/pytest.yml
@@ -25,6 +25,6 @@ jobs:
           sudo apt install -y libsuitesparse-dev
           pip install uv
           uv pip install --system -e ".[dev,examples]"
+          uv add --dev pytest pytest-cov
       - name: Test with pytest
-        run: |
-          pytest
+        run: uv run pytest --cov=pyroki --cov-report=term-missing
diff --git a/pyproject.toml b/pyproject.toml
index bbcc52ec..97650939 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,7 @@ dev = [
     "scikit-sparse",
     "ruff",
     "pytest",
+    "pytest-cov",
     "m2r2",
 ]
 
diff --git a/tests/test_urdf_loader.py b/tests/test_urdf_loader.py
new file mode 100644
index 00000000..9227fe88
--- /dev/null
+++ b/tests/test_urdf_loader.py
@@ -0,0 +1,25 @@
+"""Basic IK
+
+Simple test to verify pyroki and some of its dependencies are properly installed
+"""
+
+import time
+
+import numpy as np
+import pyroki as pk
+import viser
+from robot_descriptions.loaders.yourdfpy import load_robot_description
+from viser.extras import ViserUrdf
+
+
+def test_urdf_loader():
+    """Main function for basic IK."""
+
+    urdf = load_robot_description("panda_description")
+    target_link_name = "panda_hand"
+
+    # Create robot.
+    robot = pk.Robot.from_urdf(urdf)
+
+if __name__ == "__main__":
+    test_urdf_loader()