diff --git a/tests/sim_config_test.py b/tests/sim_config_test.py
new file mode 100644
index 0000000..05a310b
--- /dev/null
+++ b/tests/sim_config_test.py
@@ -0,0 +1,34 @@
+import pytest
+from robot_sf.sim_config import (
+    EnvSettings,
+    SimulationSettings,
+    LidarScannerSettings,
+    DifferentialDriveSettings,
+    BicycleDriveSettings,
+    MapDefinitionPool,
+    DifferentialDriveRobot,
+    BicycleDriveRobot)
+
+def test_env_settings_initialization():
+    env_settings = EnvSettings()
+    assert isinstance(env_settings.sim_config, SimulationSettings)
+    assert isinstance(env_settings.lidar_config, LidarScannerSettings)
+    assert isinstance(env_settings.robot_config, DifferentialDriveSettings)
+    assert isinstance(env_settings.map_pool, MapDefinitionPool)
+
+def test_env_settings_post_init():
+    with pytest.raises(ValueError):
+        env_settings = EnvSettings(sim_config=None)
+
+def test_robot_factory():
+    env_settings = EnvSettings()
+    robot = env_settings.robot_factory()
+    assert isinstance(robot, DifferentialDriveRobot)
+
+    env_settings.robot_config = BicycleDriveSettings()
+    robot = env_settings.robot_factory()
+    assert isinstance(robot, BicycleDriveRobot)
+
+    with pytest.raises(NotImplementedError):
+        env_settings.robot_config = "unsupported type"
+        env_settings.robot_factory()