--- a
+++ b/test_sims.py
@@ -0,0 +1,83 @@
+import unittest
+import os
+import mujoco
+
+model_paths = [
+            # Basic models
+            "basic/myomuscle.xml",
+
+            # finger models
+            "finger/finger_v0.xml",
+            "finger/myofinger_v0.xml",
+            "finger/motorfinger_v0.xml",
+
+            # elbow models
+            "elbow/myoelbow_1dof6muscles_1dofexo.xml",
+            "elbow/myoelbow_1dof6muscles.xml",
+            "elbow/myoelbow_2dof6muscles.xml",
+            "elbow/myoelbow_1dof6muscles_1dofSoftexo_Ideal.xml",
+            "elbow/myoelbow_1dof6muscles_1dofSoftexo_sim2.xml",
+
+            # arms
+            "arm/myoarm.xml",
+
+            # hand models
+            "hand/myohand.xml",
+
+            # leg models
+            "leg/myolegs.xml",
+            "leg/myolegs_abdomen.xml",
+            "osl/myolegs_osl.xml",
+
+            # torso
+            "torso/myotorso_rigid.xml",
+
+            # scene
+            "scene/myosuite_scene_noPedestal.xml",
+            "scene/myosuite_scene.xml",
+            "scene/myosuite_quad.xml",
+            "scene/myosuite_logo.xml",
+        ]
+
+class TestSims(unittest.TestCase):
+
+    def get_sim(self, model_path:str=None, model_xmlstr=None):
+        """
+        Get sim using model_path or model_xmlstr.
+        """
+
+        # load from path
+        if model_path:
+
+            # resolve full path
+            if model_path.startswith("/"):
+                fullpath = model_path
+            else:
+                fullpath = os.path.join(os.path.dirname(__file__), model_path)
+            if not os.path.exists(fullpath):
+                raise IOError("File %s does not exist" % fullpath)
+
+            # load model
+            if model_path.endswith(".mjb"):
+                model = mujoco.MjModel.from_binary_path(fullpath)
+            elif  model_path.endswith(".xml"):
+                model = mujoco.MjModel.from_xml_path(fullpath)
+
+        # load from xml string
+        elif model_xmlstr:
+            model = mujoco.MjModel.from_xml_path(model_xmlstr)
+        else:
+            raise TypeError("Both model_path and model_xmlstr can't be None")
+
+        return model
+
+
+    def test_sims(self):
+
+        for model_path in model_paths:
+            print("Testing: {}".format(model_path))
+            self.get_sim(model_path)
+
+
+if __name__ == '__main__':
+    unittest.main()