Ksim

What's Changed
* walking reward shaping by codekansas in https://github.com/kscalelabs/ksim/pull/162
* wip: gait tracking setup by michael-lutz in https://github.com/kscalelabs/ksim/pull/154
* chore: fixing ordering and data dependencies by michael-lutz in https://github.com/kscalelabs/ksim/pull/164
* rl walking experiments by codekansas in https://github.com/kscalelabs/ksim/pull/163
* Pseudo IK by michael-lutz in https://github.com/kscalelabs/ksim/pull/166
* experiment with no entropy by codekansas in https://github.com/kscalelabs/ksim/pull/167
* update to 0.0.12 by budzianowski in https://github.com/kscalelabs/ksim/pull/170
* Obs and rewards for pseudo ik by WT-MM in https://github.com/kscalelabs/ksim/pull/169


**Full Changelog**: https://github.com/kscalelabs/ksim/compare/0.0.11...0.0.13

What's Changed
* Use geom in floor randomization by WT-MM in https://github.com/kscalelabs/ksim/pull/153
* chore: togglable domain randomize and cleaner observations by michael-lutz in https://github.com/kscalelabs/ksim/pull/155
* replace flax frozen dict with xax frozen dict by codekansas in https://github.com/kscalelabs/ksim/pull/152
* chore: adding switch prob by michael-lutz in https://github.com/kscalelabs/ksim/pull/156
* chore: simplifying rewards, updating run_env accordingly by michael-lutz in https://github.com/kscalelabs/ksim/pull/158
* chore: adding to rl by michael-lutz in https://github.com/kscalelabs/ksim/pull/159
* chore: decreasing to 4 seconds? by michael-lutz in https://github.com/kscalelabs/ksim/pull/160
* add mujoco site getter by budzianowski in https://github.com/kscalelabs/ksim/pull/161


**Full Changelog**: https://github.com/kscalelabs/ksim/compare/0.0.10...0.0.11

What's Changed
* reward instead of penalty by codekansas in https://github.com/kscalelabs/ksim/pull/150
* Step commands by codekansas in https://github.com/kscalelabs/ksim/pull/151


**Full Changelog**: https://github.com/kscalelabs/ksim/compare/0.0.9...0.0.10

What's Changed
* more walking updates by codekansas in https://github.com/kscalelabs/ksim/pull/146
* bigger models by codekansas in https://github.com/kscalelabs/ksim/pull/147
* Avoid joint limits by codekansas in https://github.com/kscalelabs/ksim/pull/148
* Randomization fixes by codekansas in https://github.com/kscalelabs/ksim/pull/149


**Full Changelog**: https://github.com/kscalelabs/ksim/compare/0.0.8...0.0.9

**Full Changelog**: https://github.com/kscalelabs/ksim/compare/0.0.7...0.0.8

What's Changed
* Faster Validation by michael-lutz in https://github.com/kscalelabs/ksim/pull/133
* nit fixes by codekansas in https://github.com/kscalelabs/ksim/pull/135
* feat: avoid double counting by michael-lutz in https://github.com/kscalelabs/ksim/pull/134
* Removed Unnecesasry Forward, Added Y Command by michael-lutz in https://github.com/kscalelabs/ksim/pull/138
* Fix pushes and add joint zero randomization by WT-MM in https://github.com/kscalelabs/ksim/pull/136
* feet contact observation and reward experiments by budzianowski in https://github.com/kscalelabs/ksim/pull/137
* rl flow changes by codekansas in https://github.com/kscalelabs/ksim/pull/140
* standing policy by codekansas in https://github.com/kscalelabs/ksim/pull/139
* Vis refactor by codekansas in https://github.com/kscalelabs/ksim/pull/141
* Segfault debugging by codekansas in https://github.com/kscalelabs/ksim/pull/142
* Use gru instead by codekansas in https://github.com/kscalelabs/ksim/pull/143
* clean up events by codekansas in https://github.com/kscalelabs/ksim/pull/144
* remove feet penalties by codekansas in https://github.com/kscalelabs/ksim/pull/145


**Full Changelog**: https://github.com/kscalelabs/ksim/compare/0.0.6...0.0.7