# Tutorials

Step-by-step tutorials for common use cases with GenesisLab.

```{toctree}
:maxdepth: 2

basic_locomotion
creating_tasks
custom_observations
custom_rewards
using_sensors
custom_terrains
domain_randomization
multi_gpu_training
```

## Available Tutorials

### [Basic Locomotion](basic_locomotion.md)
Train a quadruped robot to walk on flat terrain.

**What you'll learn**:
- Setting up a training environment
- Configuring PPO hyperparameters
- Monitoring training progress
- Evaluating trained policies

**Prerequisites**: Installation complete

**Time**: 30 minutes

---

### [Creating Custom Tasks](creating_tasks.md)
Create your own custom robot learning task.

**What you'll learn**:
- Task structure and configuration
- Setting up scenes
- Defining managers
- Registering custom tasks

**Prerequisites**: Basic concepts

**Time**: 45 minutes

---

### [Custom Observations](custom_observations.md)
Define custom observation terms for your task.

**What you'll learn**:
- Writing observation functions
- Adding noise and scaling
- Using observation history
- Privileged observations

**Prerequisites**: Creating tasks

**Time**: 30 minutes

---

### [Custom Rewards](custom_rewards.md)
Design reward functions for your objectives.

**What you'll learn**:
- Reward function principles
- Writing reward terms
- Balancing multiple objectives
- Debugging rewards

**Prerequisites**: Creating tasks

**Time**: 45 minutes

---

### [Using Sensors](using_sensors.md)
Integrate cameras, LiDAR, and other sensors.

**What you'll learn**:
- Fake vs Genesis sensors
- Configuring cameras
- Processing sensor data
- Vision-based policies

**Prerequisites**: Basic concepts

**Time**: 60 minutes

---

### [Custom Terrains](custom_terrains.md)
Create procedural and custom terrains.

**What you'll learn**:
- Terrain generation
- Height map manipulation
- Terrain curriculum
- Loading custom meshes

**Prerequisites**: Creating tasks

**Time**: 45 minutes

---

### [Domain Randomization](domain_randomization.md)
Apply domain randomization for sim-to-real transfer.

**What you'll learn**:
- Dynamics randomization
- Observation noise
- Event system
- Systematic randomization strategies

**Prerequisites**: Custom tasks

**Time**: 45 minutes

---

### [Multi-GPU Training](multi_gpu_training.md)
Scale training across multiple GPUs.

**What you'll learn**:
- Multi-GPU setup
- Data parallelism
- Performance optimization
- Troubleshooting

**Prerequisites**: Basic training

**Time**: 30 minutes

---

## Learning Paths

### Beginner Path
1. [Basic Locomotion](basic_locomotion.md)
2. [Creating Custom Tasks](creating_tasks.md)
3. [Custom Observations](custom_observations.md)
4. [Custom Rewards](custom_rewards.md)

### Advanced Path
1. [Using Sensors](using_sensors.md)
2. [Custom Terrains](custom_terrains.md)
3. [Domain Randomization](domain_randomization.md)
4. [Multi-GPU Training](multi_gpu_training.md)

### Sim-to-Real Path
1. [Custom Tasks](creating_tasks.md)
2. [Using Sensors](using_sensors.md)
3. [Domain Randomization](domain_randomization.md)
4. Deployment (coming soon)

## Tutorial Template

Each tutorial follows this structure:

1. **Overview**: What you'll build and learn
2. **Prerequisites**: Required knowledge and setup
3. **Step-by-Step**: Detailed instructions with code
4. **Explanation**: Concepts and design decisions
5. **Exercise**: Try it yourself
6. **Next Steps**: Related tutorials and topics

## Sample Code Repository

All tutorial code is available in the `examples/` directory:

```
examples/
├── tutorials/
│   ├── 01_basic_locomotion/
│   ├── 02_creating_tasks/
│   ├── 03_custom_observations/
│   └── ...
└── advanced/
    ├── vision_based_navigation/
    ├── manipulation/
    └── multi_robot/
```

## Getting Help

- **Stuck on a tutorial?** Check the [FAQ](../overview/faq.md)
- **Code not working?** Compare with `examples/` code
- **Concept unclear?** Review [basic concepts](../getting_started/basic_concepts.md)
- **Need more help?** Ask in GitHub Discussions

## Contributing Tutorials

We welcome tutorial contributions! If you have a use case or technique to share:

1. Follow the tutorial template
2. Include working code in `examples/`
3. Test thoroughly
4. Submit a pull request

See [contributing guidelines](https://github.com/yourusername/genesislab/blob/main/CONTRIBUTING.md) for details.