Osim-rl env version 2.1 with env for 2017 and 2018 (from osim.env import L2RunEnv, Arm2DEnv, ProstheticsEnv), not including env for 2019 (from osim.env import L2M2019Env).
python3.6
torch==1.0.1.post2
torchvision==0.2.2.post3
tensorflow==1.13.1
tensorflow-estimator==1.13.0
Install the Osim environment following here or using the docker (docker pull stanfordnmbl/opensim-rl), then run python ./osim-rl-ver2.1/sac_multi.py --train for training.