diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
new file mode 100644
index 0000000..b2eca82
--- /dev/null
+++ b/tests/CMakeLists.txt
@@ -0,0 +1,3 @@
+add_executable(test_module test_module.cpp)
+target_link_libraries(test_module PUBLIC mc_rtc::mc_rbdyn mc_panda_lirmm::panda_lirmm)
+add_test(NAME test_module COMMAND test_module "$<TARGET_FILE_DIR:mc_panda_lirmm>")
diff --git a/tests/test_module.cpp b/tests/test_module.cpp
new file mode 100644
index 0000000..19014c0
--- /dev/null
+++ b/tests/test_module.cpp
@@ -0,0 +1,24 @@
+#include <mc_rbdyn/RobotLoader.h>
+#include <mc_panda_lirmm/panda_lirmm.h>
+
+int main(int argc, char * argv[])
+{
+  if(argc < 2)
+  {
+    mc_rtc::log::critical("Usage: {} [MODULE_DIR]", argv[0]);
+    return 1;
+  }
+  mc_rbdyn::RobotLoader::clear();
+  mc_rbdyn::RobotLoader::update_robot_module_path({argv[1]});
+  bool res = true;
+  auto check_module =
+      [&res](mc_panda_lirmm::PandaLIRMMRobots robot, bool pump, bool foot, bool hand, bool fixSensorFrame)
+  {
+    auto moduleName = NameFromParams(robot, pump, foot, hand, fixSensorFrame);
+    auto rm = mc_rbdyn::RobotLoader::get_robot_module(moduleName);
+    mc_rtc::log::info("{} provides robot {} which has {} dof", moduleName, rm->name, rm->mb.nrDof());
+    res = rm ? 0 : 1;
+  };
+
+  mc_panda_lirmm::ForAllVariants(check_module);
+}