This Robot Table Tennis project shows some very exciting research by Reza Mahjourian. It uses PyBullet and its Virtual Reality physics server support. Check out https://sites.google.com/corp/view/robottabletennis and his PhD thesis, Arxiv paper is  here: https://arxiv.org/abs/1811.12927

“Hierarchical Policy Design for Sample-Efficient Learning of Robot Table Tennis Through Self-Play”