# Getting Started

This guide will help you install GenesisLab and run your first robot learning environment.

```{toctree}
:maxdepth: 2

installation
quick_start
first_environment
basic_concepts
environment_configuration
```

## Quick Start

### 1. Install

```bash
# Install Genesis
pip install genesis-world

# Install PyTorch (if not already installed)
pip install torch

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

### 2. Run Your First Environment

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

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

# Reset
obs, info = env.reset()
print(f"Observation shape: {obs.shape}")

# Run simulation
for _ in range(100):
    # Random actions
    action = env.action_space.sample()
    
    # Step environment
    obs, reward, terminated, truncated, info = env.step(action)

env.close()
```

### 3. Train with RL

```python
from stable_baselines3 import PPO
import genesislab.envs

# Create env
env = gym.make("GenesisLab-Go2-Flat-v0", num_envs=4096)

# Train
model = PPO("MlpPolicy", env, verbose=1)
model.learn(total_timesteps=10_000_000)

# Save
model.save("go2_policy")
```

## What's Next?

- **[Installation Guide](installation.md)**: Detailed installation instructions
- **[First Environment](first_environment.md)**: Run and understand your first environment
- **[Basic Concepts](basic_concepts.md)**: Learn core GenesisLab concepts
- **[Configuration](environment_configuration.md)**: Customize environments

## Available Pre-built Environments

GenesisLab provides several ready-to-use environments:

### Quadrupeds
- `GenesisLab-Go2-Flat-v0`: Unitree Go2 on flat terrain
- `GenesisLab-Go2-Rough-v0`: Unitree Go2 on rough terrain
- `GenesisLab-A1-Flat-v0`: Unitree A1 on flat terrain
- `GenesisLab-ANYmal-Flat-v0`: ANYmal-D on flat terrain

### Humanoids
- `GenesisLab-H1-Flat-v0`: Unitree H1 humanoid
- `GenesisLab-G1-Flat-v0`: Unitree G1 humanoid

### Custom
- Create your own! See [creating custom tasks](../tutorials/creating_tasks.md)

## Learning Path

We recommend following this path:

1. ✅ **Installation**: Complete [installation guide](installation.md)
2. ✅ **First Env**: Run your [first environment](first_environment.md)
3. ✅ **Concepts**: Understand [basic concepts](basic_concepts.md)
4. ✅ **Configuration**: Learn [environment configuration](environment_configuration.md)
5. 📚 **Tutorials**: Follow [step-by-step tutorials](../tutorials/index.md)
6. 🎓 **Advanced**: Explore [advanced topics](../advanced_topics/index.md)

## Need Help?

- Check the [FAQ](../overview/faq.md)
- Browse [tutorials](../tutorials/index.md)
- Read the [API reference](../../api_reference/index.md)
- Ask questions in GitHub Discussions
- Report issues on GitHub