cff-version: 1.2.0
abstract: "<b>URDF environments for gym</b><br>The simulation environment facilitates simulation of robotic systems with pybullet as its physics engine.<br>Robots are specified by the URDF-description and are simulated using pybullet.<br>The interface is the widely used OpenAI-Gym so that reinforcement learning methods can be used. This simulation environment should facilitate motion planning research and prototyping of algorithms.<br>"
authors:
  - family-names: Spahn
    given-names: Max
    orcid: "https://orcid.org/0000-0002-9829-6991"
title: "Urdf-Environments for OpenAI-Gym"
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/19362017.v1
license: GPL-3.0
date-released: 2022-03-17