--- a
+++ b/tests/test.env.py
@@ -0,0 +1,24 @@
+from osim.env import L2RunEnv
+import numpy as np
+import unittest
+
+class SimulationTest(unittest.TestCase):
+    def test_reset(self):
+        env = L2RunEnv(visualize=False)
+        for i in range(10):
+            observation = env.reset()
+
+        action = env.action_space.sample()
+        action[5] = np.NaN
+        self.assertRaises(ValueError, env.step, action)
+
+    def test_actions(self):
+        env = L2RunEnv(visualize=False)
+        env.reset()
+        v = env.action_space.sample()
+        v[0] = 1.5
+        v[1] = -0.5
+        observation, reward, done, info = env.step(v)
+
+if __name__ == '__main__':
+    unittest.main()