# User Guide

```{toctree}
:caption: Overview
:maxdepth: 1

overview/what_is_genesis
overview/why_a_new_simulator
overview/installation
overview/mission
```


```{toctree}
:caption: Getting Started
:maxdepth: 1

getting_started/hello_genesis
getting_started/visualization
getting_started/control_your_robot
getting_started/parallel_simulation
getting_started/interactive_debugging
```


```{toctree}
:caption: Robot Control
:maxdepth: 1

getting_started/inverse_kinematics_motion_planning
getting_started/advanced_ik
getting_started/constraints
getting_started/path_planning
```


```{toctree}
:caption: Physics Simulation
:maxdepth: 1

getting_started/beyond_rigid_bodies
getting_started/soft_robots
getting_started/hybrid_entity
getting_started/drone_entity
getting_started/terrain
getting_started/emitters
```


```{toctree}
:caption: Sensing & Perception
:maxdepth: 2

getting_started/sensors/index
getting_started/nyx_renderer
getting_started/recorders
```


```{toctree}
:caption: Policy Training
:maxdepth: 2

getting_started/policy_training/best_practices/index
getting_started/policy_training/examples/index
```


```{toctree}
:caption: Assets & Rendering
:maxdepth: 1

getting_started/surfaces_textures
getting_started/usd_import
getting_started/viewer_plugin
```


```{toctree}
:caption: Configuration & Conventions
:maxdepth: 1

getting_started/config_system
getting_started/conventions
getting_started/miscellaneous
```


```{toctree}
:caption: Advanced Topics
:maxdepth: 2

advanced_topics/concepts
advanced_topics/couplers/index
advanced_topics/checkpoints
advanced_topics/multi_gpu
advanced_topics/mesh_processing
```


```{toctree}
:caption: Theory & Modelling
:maxdepth: 2

advanced_topics/rigid_collision/index
advanced_topics/solvers_and_coupling
advanced_topics/nonrigid_models
advanced_topics/support_field
```


```{toctree}
:caption: Extending Genesis
:maxdepth: 2

advanced_topics/naming_and_variables
advanced_topics/sensors/index
advanced_topics/profiling
```