--- a
+++ b/CHANGELOG.md
@@ -0,0 +1,15 @@
+# osim-rl
+
+Install the most recent version with
+```bash
+pip install git+https://github.com/stanfordnmbl/osim-rl.git -U
+```
+in the conda environment with OpenSim.
+
+## [2.1.0] - 2018-08-27
+- `equilibrateMuscles` called in the first step (https://github.com/stanfordnmbl/osim-rl/issues/133)
+- Added the new reward function (round 2)
+- `timestap_limit` for the second round is 1000
+- Fixed the `set_state` (https://github.com/stanfordnmbl/osim-rl/issues/125)
+- `difficulty` added to the environment (https://github.com/stanfordnmbl/osim-rl/issues/127). `1` for the second round and `0` for the first round
+- `seed` added to the environment (https://github.com/stanfordnmbl/osim-rl/issues/158)