Roboball2d is a lightweight python API to simulated 3 dofs torque controlled robot(s) and ball(s), along with a renderer. It is based on Box2d and pyglet. It can be used for anything you want, but was created with reinforcement learning in mind.
Nico Guertler and Vincent Berenz, Max Planck for Intelligent Systems, Tuebingen
Copyright(c) 2020 Max Planck Gesellschaft