What's Changed
* ksim structure by codekansas in https://github.com/kscalelabs/ksim/pull/1
* remove old gym by budzianowski in https://github.com/kscalelabs/ksim/pull/2
* implement visualizing saved checkpoints for cartpole by alik-git in https://github.com/kscalelabs/ksim/pull/4
* chore: removed all brax state dependencies in task and env code, cleaned up RL and PPO code by michael-lutz in https://github.com/kscalelabs/ksim/pull/10
* Add basic Tensorboard logging functionality to RL Task by alik-git in https://github.com/kscalelabs/ksim/pull/14
* Getting MJX Environment to Work by michael-lutz in https://github.com/kscalelabs/ksim/pull/15
* update catrpole to match new base env function signatures by alik-git in https://github.com/kscalelabs/ksim/pull/17
* Add rendering and run_environment by WT-MM in https://github.com/kscalelabs/ksim/pull/16
* remove unused rendering by budzianowski in https://github.com/kscalelabs/ksim/pull/20
* add simpler termination logic for debugging by budzianowski in https://github.com/kscalelabs/ksim/pull/21
* Lint and fix CI by WT-MM in https://github.com/kscalelabs/ksim/pull/22
* The Chronicles of Nania by michael-lutz in https://github.com/kscalelabs/ksim/pull/24
* add docker setup with latest jax by budzianowski in https://github.com/kscalelabs/ksim/pull/32
* ben changes by codekansas in https://github.com/kscalelabs/ksim/pull/29
* Render training, and minor changes for reward setup etc by alik-git in https://github.com/kscalelabs/ksim/pull/31
* fix formatting conflict between black and ruff by alik-git in https://github.com/kscalelabs/ksim/pull/34
* replicate legacy setup by budzianowski in https://github.com/kscalelabs/ksim/pull/39
* default humanoid reward and terminations from legacy ksim by alik-git in https://github.com/kscalelabs/ksim/pull/37
* Speed ups that dont crash everything by michael-lutz in https://github.com/kscalelabs/ksim/pull/44
* inform on nans by budzianowski in https://github.com/kscalelabs/ksim/pull/45
* K-Bot in ksim by WT-MM in https://github.com/kscalelabs/ksim/pull/33
* Better Gpu Utilization by michael-lutz in https://github.com/kscalelabs/ksim/pull/46
* Make jit print currently running function and remove redundant loops by alik-git in https://github.com/kscalelabs/ksim/pull/47
* add rewards info by budzianowski in https://github.com/kscalelabs/ksim/pull/48
* update readme (troubleshooting and install sections) by alik-git in https://github.com/kscalelabs/ksim/pull/50
* Add zbot by alik-git in https://github.com/kscalelabs/ksim/pull/49
* Add kbot2 by alik-git in https://github.com/kscalelabs/ksim/pull/58
* Update README.md by jingxiangmo in https://github.com/kscalelabs/ksim/pull/56
* Default Humanoid Walks. by michael-lutz in https://github.com/kscalelabs/ksim/pull/54
* Fixing kbotv2 env by michael-lutz in https://github.com/kscalelabs/ksim/pull/60
* Mjx reward playground by alik-git in https://github.com/kscalelabs/ksim/pull/53
* chore: making latency obvious at the user level by michael-lutz in https://github.com/kscalelabs/ksim/pull/36
* fix last obs value by budzianowski in https://github.com/kscalelabs/ksim/pull/42
* chore: making observation setups consistent by michael-lutz in https://github.com/kscalelabs/ksim/pull/61
* Misc cleanup by codekansas in https://github.com/kscalelabs/ksim/pull/62
* Zbot standing test by michael-lutz in https://github.com/kscalelabs/ksim/pull/65
* chore: improved eval rendering and episode length calculation by michael-lutz in https://github.com/kscalelabs/ksim/pull/66
* Ben updates by codekansas in https://github.com/kscalelabs/ksim/pull/68
* Equinox, Actuators, Normalization by michael-lutz in https://github.com/kscalelabs/ksim/pull/71
* ben updates by codekansas in https://github.com/kscalelabs/ksim/pull/73
* better resets by alik-git in https://github.com/kscalelabs/ksim/pull/57
* add termination viz by budzianowski in https://github.com/kscalelabs/ksim/pull/72
* Sinusoidal feet by WT-MM in https://github.com/kscalelabs/ksim/pull/69
* small stuff by codekansas in https://github.com/kscalelabs/ksim/pull/74
* Fixing everything by michael-lutz in https://github.com/kscalelabs/ksim/pull/77
* chore: making solver get passed in by michael-lutz in https://github.com/kscalelabs/ksim/pull/78
* add git lfs and submodule instructions for kscale assets by alik-git in https://github.com/kscalelabs/ksim/pull/80
* General Fixes by michael-lutz in https://github.com/kscalelabs/ksim/pull/81
* add unroll tests by budzianowski in https://github.com/kscalelabs/ksim/pull/82
* miscellaneous refactoring by codekansas in https://github.com/kscalelabs/ksim/pull/83
* improve code structure by codekansas in https://github.com/kscalelabs/ksim/pull/85
* use our own viewer by codekansas in https://github.com/kscalelabs/ksim/pull/87
* randomize environments by codekansas in https://github.com/kscalelabs/ksim/pull/88
* randomizations by codekansas in https://github.com/kscalelabs/ksim/pull/89
* viewer save videos by codekansas in https://github.com/kscalelabs/ksim/pull/91
* add more randomization logic by budzianowski in https://github.com/kscalelabs/ksim/pull/90
* ppo training by codekansas in https://github.com/kscalelabs/ksim/pull/92
* more ppo fixes by codekansas in https://github.com/kscalelabs/ksim/pull/93
* ppo fixes by codekansas in https://github.com/kscalelabs/ksim/pull/94
* Export and deploy in kos-sim by WT-MM in https://github.com/kscalelabs/ksim/pull/86
* ppo debugging by codekansas in https://github.com/kscalelabs/ksim/pull/95
* ppo fixes by codekansas in https://github.com/kscalelabs/ksim/pull/96
* toggle two step td, log train videos by codekansas in https://github.com/kscalelabs/ksim/pull/97
* ppo debugging by codekansas in https://github.com/kscalelabs/ksim/pull/98
* better validators by codekansas in https://github.com/kscalelabs/ksim/pull/99
* logging improvements by codekansas in https://github.com/kscalelabs/ksim/pull/100
* reward refactoring by codekansas in https://github.com/kscalelabs/ksim/pull/101
* reward clipping by codekansas in https://github.com/kscalelabs/ksim/pull/103
* revert to no chunking by codekansas in https://github.com/kscalelabs/ksim/pull/104
* addressing some nan issues by codekansas in https://github.com/kscalelabs/ksim/pull/105
* original dh setup by budzianowski in https://github.com/kscalelabs/ksim/pull/108
* Interactive viz for run env by alik-git in https://github.com/kscalelabs/ksim/pull/107
* Default humanoid lstm by WT-MM in https://github.com/kscalelabs/ksim/pull/109
* linting and testing by codekansas in https://github.com/kscalelabs/ksim/pull/111
* Default humanoid walking mlp + lstm policies by WT-MM in https://github.com/kscalelabs/ksim/pull/113
* combine trajectory unrolling and model update into the same jitted fn by codekansas in https://github.com/kscalelabs/ksim/pull/115
* remove initial carry from constants by codekansas in https://github.com/kscalelabs/ksim/pull/117
* remove kbot by codekansas in https://github.com/kscalelabs/ksim/pull/118
* fix metadata loading and add standing kb2 task by budzianowski in https://github.com/kscalelabs/ksim/pull/112
* Add plots and pausing for run environment by alik-git in https://github.com/kscalelabs/ksim/pull/114
* Update dh lstm export by WT-MM in https://github.com/kscalelabs/ksim/pull/119
* better named aux outputs by WT-MM in https://github.com/kscalelabs/ksim/pull/121
* randomize once by codekansas in https://github.com/kscalelabs/ksim/pull/116
* fix randomizing pos and vel by budzianowski in https://github.com/kscalelabs/ksim/pull/120
* Fix training loop by codekansas in https://github.com/kscalelabs/ksim/pull/122
* update ksim api by codekansas in https://github.com/kscalelabs/ksim/pull/123
New Contributors
* codekansas made their first contribution in https://github.com/kscalelabs/ksim/pull/1
* budzianowski made their first contribution in https://github.com/kscalelabs/ksim/pull/2
* alik-git made their first contribution in https://github.com/kscalelabs/ksim/pull/4
* michael-lutz made their first contribution in https://github.com/kscalelabs/ksim/pull/10
* WT-MM made their first contribution in https://github.com/kscalelabs/ksim/pull/16
* jingxiangmo made their first contribution in https://github.com/kscalelabs/ksim/pull/56
**Full Changelog**: https://github.com/kscalelabs/ksim/commits/0.0.2