diff --git a/.clang-tidy b/.clang-tidy
index 7de7b18e..0953629e 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -2,7 +2,6 @@
 Checks:          'clang-diagnostic-*,clang-analyzer-*,bug-prone-*,-clang-diagnostic-ignored-optimization-argument'
 WarningsAsErrors: ''
 HeaderFilterRegex: 'src/*.h'
-AnalyzeTemporaryDtors: false
 FormatStyle:     google
 CheckOptions:
   - key:             llvm-else-after-return.WarnOnConditionVariables
diff --git a/assets/panda/mjcf/panda_0.xml b/assets/panda/mjcf/panda_0.xml
index 1f0c61f0..c9135939 100644
--- a/assets/panda/mjcf/panda_0.xml
+++ b/assets/panda/mjcf/panda_0.xml
@@ -1,4 +1,22 @@
 <mujoco model="panda">
+    <default>
+        <default class="panda">
+            <material specular="0.5" shininess="0.25"/>
+            <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+            <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+            <default class="finger">
+                <joint axis="0 1 0" type="slide" range="0 0.04"/>
+            </default>
+
+            <default class="panda/visual">
+                <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+            </default>
+            <default class="panda/collision">
+                <geom type="mesh" group="3"/>
+            </default>
+            <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
+        </default>
+    </default>
     <worldbody>
         <light name="top_0" pos="0 0 2" mode="trackcom"/>
         <body name="link0_0" childclass="panda">
@@ -91,9 +109,9 @@
                                         <geom mesh="link7_6" material="dark_grey" class="panda/visual"/>
                                         <geom mesh="link7_7" material="white" class="panda/visual"/>
                                         <geom mesh="link7_c" class="panda/collision"/>
-                                        <body name="attachment_0" pos="0 0 0.107" quat="0.3826834 0 0 0.9238795">
-                                            <site name="attachment_site_0"/>
-                                        </body>
+                                        <site name="attachment_site_0" pos="0 0 0.107" quat="0.3826834 0 0 0.9238795" />
+                                            <!-- <site name="attachment_site_0"/>
+                                        </body> -->
                                     </body>
                                 </body>
                             </body>
diff --git a/assets/panda/mjcf/panda_common.xml b/assets/panda/mjcf/panda_common.xml
index efb11260..c736b51e 100644
--- a/assets/panda/mjcf/panda_common.xml
+++ b/assets/panda/mjcf/panda_common.xml
@@ -3,24 +3,6 @@
 
     <option integrator="implicitfast" impratio="10"/>
 
-    <default>
-        <default class="panda">
-            <material specular="0.5" shininess="0.25"/>
-            <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
-            <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
-            <default class="finger">
-                <joint axis="0 1 0" type="slide" range="0 0.04"/>
-            </default>
-
-            <default class="panda/visual">
-                <geom type="mesh" contype="0" conaffinity="0" group="2"/>
-            </default>
-            <default class="panda/collision">
-                <geom type="mesh" group="3"/>
-            </default>
-            <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
-        </default>
-    </default>
 
     <asset>
         <material class="panda" name="white" rgba="1 1 1 1"/>
diff --git a/assets/panda/mjcf/panda_unnamed.xml b/assets/panda/mjcf/panda_unnamed.xml
index 6a7920b4..835c0460 100644
--- a/assets/panda/mjcf/panda_unnamed.xml
+++ b/assets/panda/mjcf/panda_unnamed.xml
@@ -1,4 +1,22 @@
 <mujoco model="panda">
+    <default>
+        <default class="panda">
+            <material specular="0.5" shininess="0.25"/>
+            <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+            <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+            <default class="finger">
+                <joint axis="0 1 0" type="slide" range="0 0.04"/>
+            </default>
+
+            <default class="panda/visual">
+                <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+            </default>
+            <default class="panda/collision">
+                <geom type="mesh" group="3"/>
+            </default>
+            <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
+        </default>
+    </default>
     <worldbody>
         <light name="top" pos="0 0 2" mode="trackcom"/>
         <body name="link0" childclass="panda">
diff --git a/python/tests/test_kinematics.py b/python/tests/test_kinematics.py
new file mode 100644
index 00000000..61f32976
--- /dev/null
+++ b/python/tests/test_kinematics.py
@@ -0,0 +1,79 @@
+import numpy as np
+import pytest
+
+import rcs
+from rcs import common
+
+# Map robot types to their end-effector frame names
+ROBOT_FRAME_IDS = {
+    common.RobotType.FR3: "attachment_site_0",
+    common.RobotType.Panda: "attachment_site_0",
+    common.RobotType.XArm7: "attachment_site",
+    common.RobotType.SO101: "gripper",
+    common.RobotType.UR5e: "attachment_site",
+}
+
+
+# only for scene that have empty_world in key
+@pytest.mark.parametrize("scene_name", [k for k in rcs.scenes if "empty_world" in k])
+def test_kinematics_identity(scene_name):
+    scene = rcs.scenes[scene_name]
+
+    # Determine model path and type
+    model_path = scene.mjcf_robot
+
+    # Get frame ID
+    if scene.robot_type not in ROBOT_FRAME_IDS:
+        pytest.skip(f"Frame ID not defined for robot type {scene.robot_type}")
+
+    frame_id = ROBOT_FRAME_IDS[scene.robot_type]
+
+    # Initialize Pinocchio interface
+    try:
+        pin = common.Pin(model_path, frame_id, False)
+    except Exception as e:
+        pytest.fail(f"Failed to initialize Pin for {scene_name}: {e}")
+
+    # Get home configuration
+    try:
+        meta_config = common.robots_meta_config(scene.robot_type)
+        q_home = meta_config.q_home
+    except Exception as e:
+        pytest.fail(f"Failed to get meta config for {scene_name}: {e}")
+
+    # Test 1: FK at home
+    # Identity pose (no TCP offset)
+    tcp_offset = common.Pose()
+
+    pose_home = pin.forward(q_home, tcp_offset)
+    assert isinstance(pose_home, common.Pose)
+
+    # Test 2: IK at home pose should return a solution (ideally close to q_home, but IK is redundant)
+    # We use q_home as initial guess
+    q_sol = pin.inverse(pose_home, q_home, tcp_offset)
+
+    assert q_sol is not None, "IK failed for home pose"
+
+    # Verify the solution with FK
+    pose_sol = pin.forward(q_sol, tcp_offset)
+
+    # Check if pose_sol is close to pose_home
+    assert pose_sol.is_close(
+        pose_home, eps_r=1e-4, eps_t=1e-4
+    ), f"FK(IK(pose)) does not match pose.\nOriginal: {pose_home}\nResult: {pose_sol}"
+
+    # Test 3: Perturbed configuration
+    # Add small noise to q_home to test non-trivial pose
+    # Ensure we stay within limits if possible, but for small noise it should be fine
+    np.random.seed(42)
+    q_perturbed = q_home + np.random.uniform(-0.1, 0.1, size=q_home.shape)
+
+    pose_perturbed = pin.forward(q_perturbed, tcp_offset)  # type: ignore
+    q_sol_perturbed = pin.inverse(pose_perturbed, q_home, tcp_offset)  # Use q_home as seed
+
+    assert q_sol_perturbed is not None, "IK failed for perturbed pose"
+
+    pose_sol_perturbed = pin.forward(q_sol_perturbed, tcp_offset)
+    assert pose_sol_perturbed.is_close(
+        pose_perturbed, eps_r=1e-3, eps_t=1e-3
+    ), f"FK(IK(perturbed_pose)) does not match.\nOriginal: {pose_perturbed}\nResult: {pose_sol_perturbed}"
