Custom URLs / permalinks for taxonomy terms

Say I have a blog called http://example.com/blog/, and I have a taxonomy called ‘test’ that applies to post objects, with three terms in it:

• apple
• banana
• orange

The default URL for these taxonomy term pages would be:

• http://example.com/blog/test/apple/
• http://example.com/blog/test/banana/
• http://example.com/blog/test/orange/

Is there any way to make the URLs like this:

• http://example.com/blog/apple/
• http://example.com/blog/banana/
• http://example.com/blog/orange/

Thanks,
Dave