OpenAI Gym is a is a toolkit for reinforcement learning research created by OpenAI. Thanks to the extension developed by Erle Robotics, you will be able to simulate and test reinforcement learning algorithms with robots. This work was summarized at Extending the OpenAI Gym for robotics: a toolkit for reinforcement learning using ROS and Gazebo whitepaper. Code is freely available at erlerobot/gym.
Installation and usage instructions are available at the gym-gazebo github repository.