--- a
+++ b/tests/test.restore.py
@@ -0,0 +1,24 @@
+from osim.env import ProstheticsEnv
+import numpy as np
+import unittest
+
+class SetStateTest(unittest.TestCase):
+    def test_activations(self):
+        env = ProstheticsEnv(visualize=False, integrator_accuracy=1e-1)  # we quickly want to see what happens
+        env.reset()
+        state_checkpoint = env.osim_model.get_state()  # store state
+
+        for i in range(5):
+            env.step(env.action_space.high)  # execute step with static action
+        obs1 = env.get_observation()
+
+        env.osim_model.set_state(state_checkpoint)  # restore state
+        for i in range(5):
+            env.step(env.action_space.high)
+        obs2 = env.get_observation()
+
+        dist = np.sum((np.array(obs1) - np.array(obs2))**2)
+        self.assertTrue(dist < 0.05)
+        
+if __name__ == '__main__':
+    unittest.main()