--- a
+++ b/tests/test.flatten.py
@@ -0,0 +1,27 @@
+from osim.env import ProstheticsEnv
+import numpy as np
+import unittest
+
+# Source: https://stackoverflow.com/questions/39135433/how-to-flatten-nested-python-dictionaries
+
+def flatten(d):    
+    res = []  # Result list
+    if isinstance(d, dict):
+        for key, val in sorted(d.items()):
+            res.extend(flatten(val))
+    elif isinstance(d, list):
+        res = d        
+    else:
+        res = [d]
+
+    return res
+
+d = { '123': { 'key3': 3, 'key2': 11, 'key1': 1 },
+      '124': { 'key1': 6, 'key2': 56, 'key3': 6 },
+      '125': { 'key1': 7, 'key2': 44, 'key3': 9 },
+    }
+
+env = ProstheticsEnv()
+print(flatten(env.reset()))
+print(flatten(d))
+