# What is GenesisLab?

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

## Motivation

Robot learning requires:
- **Fast simulation** for efficient training
- **Modular design** for easy experimentation
- **Rich observations** for complex behaviors
- **Flexible rewards** for diverse tasks
- **Domain randomization** for sim-to-real transfer

GenesisLab addresses these needs by providing a unified framework that:
- Leverages Genesis's ultra-fast parallel simulation
- Implements a clean manager-based architecture
- Supports diverse sensor modalities
- Enables easy task and robot configuration
- Integrates seamlessly with popular RL libraries

## What Can You Do with GenesisLab?

### 1. Train Legged Robots

Train quadrupeds and humanoids to walk, run, and navigate complex terrains:

```python
import gymnasium as gym
import genesislab.envs

# Train a quadruped on rough terrain
env = gym.make("GenesisLab-Go2-Rough-v0", num_envs=4096)
```

**Supported Robots**:
- Unitree Go2, A1, B2
- Unitree H1, G1 (humanoids)
- ANYmal-D
- Custom URDF/MJCF robots

### 2. Develop Custom Tasks

Create your own tasks with minimal code:

```python
from genesislab.tasks import LocomotionTask
from genesislab.managers import ObservationManager, RewardManager

class MyCustomTask(LocomotionTask):
    def setup_scene(self):
        # Define your scene
        pass
    
    def setup_managers(self):
        self.observation_manager = ObservationManager(...)
        self.reward_manager = RewardManager(...)
```

### 3. Experiment with Sensors

Use various sensor modalities:
- **Proprioception**: Joint positions, velocities, torques
- **IMU**: Angular velocity, linear acceleration, orientation
- **Vision**: RGB, depth, segmentation cameras
- **LiDAR**: Point cloud sensing
- **Contact sensors**: Force and contact detection

### 4. Test Sim-to-Real Transfer

Apply domain randomization for robust policies:
- Dynamics randomization (mass, friction, motor strength)
- Observation noise injection
- Action delays and noise
- Terrain randomization

## How is GenesisLab Different?

### vs Isaac Lab

**Similarities**:
- Both provide RL frameworks for robotics
- Manager-based architecture
- Gymnasium integration

**Differences**:
- GenesisLab uses Genesis (faster simulation)
- Simpler configuration system
- Focus on locomotion and manipulation tasks
- Lightweight and easy to extend

### vs Legged Gym / RSL RL

**Similarities**:
- Focus on legged robot locomotion
- Support for terrain randomization

**Differences**:
- GenesisLab supports multiple robot types (not just legged)
- More modular manager system
- Built-in Gymnasium compatibility
- Native support for vision and LiDAR

### vs MuJoCo / IsaacGym

GenesisLab is a **framework** built on top of Genesis physics engine, not a physics engine itself:
- Provides task definitions and RL utilities
- Manager-based abstractions
- Pre-configured robot models and tasks
- Easier to get started with robot learning

## Architecture at a Glance

```
┌─────────────────────────────────────────────────────────┐
│                    Gymnasium Env                         │
│  ┌───────────────────────────────────────────────────┐  │
│  │                    LabScene                        │  │
│  │  ┌──────────┐  ┌──────────┐  ┌───────────────┐   │  │
│  │  │ Observer │  │  Action  │  │    Reward     │   │  │
│  │  │ Manager  │  │ Manager  │  │   Manager     │   │  │
│  │  └──────────┘  └──────────┘  └───────────────┘   │  │
│  │  ┌──────────┐  ┌──────────┐  ┌───────────────┐   │  │
│  │  │ Command  │  │  Event   │  │  Termination  │   │  │
│  │  │ Manager  │  │ Manager  │  │   Manager     │   │  │
│  │  └──────────┘  └──────────┘  └───────────────┘   │  │
│  └───────────────────────────────────────────────────┘  │
└─────────────────────────────────────────────────────────┘
                          │
                          ▼
┌─────────────────────────────────────────────────────────┐
│                  Genesis Scene                           │
│  ┌────────┐  ┌────────┐  ┌────────┐  ┌──────────────┐  │
│  │ Robot  │  │ Sensor │  │Terrain │  │   Objects    │  │
│  └────────┘  └────────┘  └────────┘  └──────────────┘  │
└─────────────────────────────────────────────────────────┘
```

## Next Steps

- Learn about [GenesisLab's architecture](architecture.md)
- Understand [core concepts](concepts.md)
- Read the [design philosophy](design_philosophy.md)
- Check out the [getting started guide](../getting_started/index.md)