# GenesisLab

GenesisLab is a unified, extensible framework for robot learning built on top of [Genesis](https://github.com/Genesis-Embodied-AI/Genesis), the world's fastest physics simulation platform.

## What is GenesisLab?

GenesisLab is a comprehensive robotics learning framework that provides:

1. **Manager-Based Architecture**: A modular design with specialized managers for observations, actions, rewards, commands, and more.
2. **Multi-Robot Support**: Pre-configured support for various robot platforms including Unitree (Go2, H1, G1), ANYmal-D, and more.
3. **Gymnasium Integration**: Seamless integration with the Gymnasium API for RL training.
4. **Flexible Task System**: Easy-to-extend task definitions for various robot learning scenarios.
5. **Advanced Sensor System**: Support for both fake (fast) and Genesis native sensors including cameras, LiDAR, and IMU.
6. **Terrain Generation**: Procedural terrain generation with curriculum support.

## Key Features

Compared to other robot learning frameworks, GenesisLab offers:

- 🚀 **Ultra-Fast Simulation**: Leveraging Genesis's parallel simulation capabilities for unprecedented training speed
- 🎯 **Manager-Based Design**: Clean separation of concerns through specialized manager components
- 🤖 **Multi-Robot Ready**: Support for legged robots, humanoids, and wheeled robots out-of-the-box
- 🔧 **Highly Configurable**: Configuration-driven design using `@configclass` decorators
- 📊 **Rich Observation Space**: Support for privileged observations, proprioception, exteroception, and more
- 🎮 **Command-Based Control**: Flexible command system for directing robot behaviors
- 🌍 **Diverse Terrains**: Procedural terrain generation with multiple terrain types and difficulty curricula

## Architecture Overview

GenesisLab follows a manager-based architecture where different aspects of the robot learning problem are handled by specialized managers:

- **Scene Management**: `LabScene` provides the central interface for simulation management
- **Observation Manager**: Handles all observation terms and computes observation tensors
- **Action Manager**: Processes actions and applies them to the robot
- **Reward Manager**: Computes multi-term reward functions
- **Termination Manager**: Defines episode termination conditions
- **Command Manager**: Generates and manages robot commands
- **Curriculum Manager**: Implements training curricula for progressive learning
- **Event Manager**: Handles randomization and domain randomization events
- **Object Manager**: Manages dynamic objects in the scene

## Getting Started

### Quick Installation

```bash
# Clone the repository
git clone https://github.com/yourusername/genesislab.git
cd genesislab

# Install GenesisLab
cd source/genesislab
pip install -e .

# Install Genesis
pip install genesis-world

# Install PyTorch
pip install torch torchvision torchaudio
```

### First Steps

1. **Run Your First Environment**

```python
import gymnasium as gym
import genesislab.envs  # Register environments

# Create environment
env = gym.make("GenesisLab-Go2-Flat-v0", num_envs=1024)

# Reset and run
obs, info = env.reset()
for _ in range(1000):
    action = env.action_space.sample()
    obs, reward, terminated, truncated, info = env.step(action)
    
env.close()
```

2. **Train with RL Libraries**

GenesisLab is compatible with popular RL libraries:

```python
# Example with stable-baselines3
from stable_baselines3 import PPO
import genesislab.envs

env = gym.make("GenesisLab-Go2-Rough-v0", num_envs=4096)
model = PPO("MlpPolicy", env, verbose=1)
model.learn(total_timesteps=10_000_000)
```

## Documentation Structure

```{toctree}
:maxdepth: 2
:caption: User Guide

user_guide/index
```

```{toctree}
:maxdepth: 2
:caption: API Reference

api_reference/index
```

## Community and Support

- **GitHub Issues**: Report bugs and request features
- **Discussions**: Ask questions and share ideas
- **Contributing**: We welcome contributions! See our contributing guidelines

## Citation

If you use GenesisLab in your research, please cite:

```bibtex
@misc{GenesisLab,
  author = {GenesisLab Contributors},
  title = {GenesisLab: A Unified Framework for Robot Learning with Genesis},
  year = {2024},
  url = {https://github.com/yourusername/genesislab}
}
```

And don't forget to cite Genesis:

```bibtex
@misc{Genesis,
  author = {Genesis Authors},
  title = {Genesis: A Generative and Universal Physics Engine for Robotics and Beyond},
  month = {December},
  year = {2024},
  url = {https://github.com/Genesis-Embodied-AI/Genesis}
}
```

## License

GenesisLab is released under the MIT License. See [LICENSE](https://github.com/yourusername/genesislab/blob/main/LICENSE) for details.