0.2.10

What's Changed

• Motionless at rest by @codekansas in #509
• off axis penalties by @codekansas in #510
• deadzone by @codekansas in #511
• imu randomizer improvements by @codekansas in #512
• update bad z termination by @codekansas in #514
• use exp kernel by @codekansas in #515

Full Changelog: 0.2.9...0.2.10

0.2.9

What's Changed

• better force penalty by @codekansas in #508

Full Changelog: 0.2.8...0.2.9

0.2.8

What's Changed

• revive feet height reward by @codekansas in #506
• better feet height reward by @codekansas in #507

Full Changelog: 0.2.7...0.2.8

0.2.7

What's Changed

• slight reward fix by @codekansas in #504
• reduce feet forces by @codekansas in #505

Full Changelog: 0.2.6...0.2.7

0.2.6

What's Changed

• improved resets by @codekansas in #498
• random pitch / roll reset by @codekansas in #499
• Log command metrics by @WT-MM in #500
• update rewards api by @codekansas in #502

Full Changelog: 0.2.5...0.2.6

0.2.5

What's Changed

• reward updates by @codekansas in #497

Full Changelog: 0.2.4...0.2.5

0.2.4

What's Changed

• fix up rngs by @codekansas in #496

Full Changelog: 0.2.3...0.2.4

0.2.3

What's Changed

• add phase to actor by @codekansas in #494
• base height tracking reward by @codekansas in #495

Full Changelog: 0.2.2...0.2.3

0.2.2

What's Changed

• sinusoidal gait by @codekansas in #493

Full Changelog: 0.2.1...0.2.2

0.2.1

What's Changed

• chexify + more debugging by @codekansas in #492

Full Changelog: 0.2.0...0.2.1