diff --git a/tests/test_visualizer.py b/tests/test_visualizer.py
new file mode 100644
index 000000000..6643bb6b4
--- /dev/null
+++ b/tests/test_visualizer.py
@@ -0,0 +1,64 @@
+import pytest
+import rod
+
+from jaxsim.mujoco import ModelToMjcf
+from jaxsim.mujoco.loaders import MujocoCamera
+
+
+@pytest.fixture
+def mujoco_camera():
+
+    return MujocoCamera.build_from_target_view(
+        camera_name="test_camera",
+        lookat=(0, 0, 0),
+        distance=1,
+        azimuth=0,
+        elevation=0,
+        fovy=45,
+        degrees=True,
+    )
+
+
+def test_urdf_loading(jaxsim_model_single_pendulum, mujoco_camera):
+    model = jaxsim_model_single_pendulum.built_from
+
+    _ = ModelToMjcf.convert(model=model, cameras=mujoco_camera)
+
+
+def test_sdf_loading(jaxsim_model_single_pendulum, mujoco_camera):
+
+    model = rod.Sdf.load(sdf=jaxsim_model_single_pendulum.built_from).serialize(
+        pretty=True
+    )
+
+    _ = ModelToMjcf.convert(model=model, cameras=mujoco_camera)
+
+
+def test_rod_loading(jaxsim_model_single_pendulum, mujoco_camera):
+
+    model = rod.Sdf.load(sdf=jaxsim_model_single_pendulum.built_from).models()[0]
+
+    _ = ModelToMjcf.convert(model=model, cameras=mujoco_camera)
+
+
+def test_heightmap(jaxsim_model_single_pendulum, mujoco_camera):
+
+    model = rod.Sdf.load(sdf=jaxsim_model_single_pendulum.built_from).models()[0]
+
+    _ = ModelToMjcf.convert(
+        model=model,
+        cameras=mujoco_camera,
+        heightmap=True,
+        heightmap_samples_xy=(51, 51),
+    )
+
+
+def test_inclined_plane(jaxsim_model_single_pendulum, mujoco_camera):
+
+    model = rod.Sdf.load(sdf=jaxsim_model_single_pendulum.built_from).models()[0]
+
+    _ = ModelToMjcf.convert(
+        model=model,
+        cameras=mujoco_camera,
+        plane_normal=(0.3, 0.3, 0.3),
+    )