# 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/conventions
getting_started/visualization
getting_started/control_your_robot
getting_started/parallel_simulation
getting_started/inverse_kinematics_motion_planning
getting_started/advanced_ik
getting_started/beyond_rigid_bodies
getting_started/sensors
getting_started/interactive_debugging
getting_started/locomotion
getting_started/hover_env
getting_started/manipulation
getting_started/terrain
getting_started/soft_robots
getting_started/miscellaneous
getting_started/config_system
```


```{toctree}
:caption: Advanced Topics
:maxdepth: 1

advanced_topics/concepts
advanced_topics/naming_and_variables
advanced_topics/collision_contacts_forces
advanced_topics/differentiable_simulation
advanced_topics/solvers_and_coupling
advanced_topics/rigid_constraint_model
advanced_topics/nonrigid_models
advanced_topics/support_field
```

<!-- advanced_topics/drone -->