How to Guides
=============

This document provides an overview of the How-To-Guides available in the Orbit Software documentation. Each guide focuses on a specific aspect of the software and provides step-by-step instructions to help you get started.

.. _sim-control-objects:

Custom Articulations
--------------------
The `assets` section includes guides that help you develop your own Articulations as opposed to using those included in Orbit.

.. toctree::
    :maxdepth: 1

    Creating your own Articulation: Cartpole <01_assets/cartpole>

Sensors
-------
The `sensors` section focuses on guides related to perception and sensing capabilities in the Orbit Software.
These guides will help you understand how to use sensors, such as cameras and depth sensors, to perceive the environment and extract useful information for your applications.

.. toctree::
    :maxdepth: 1

    Cameras <02_sensors/camera>
    Ray-Casters <02_sensors/ray_caster>
    Ray-Caster Camera <02_sensors/ray_caster_camera>
    Frame Transformer <02_sensors/frame_transformer>
    Sensors on Articulated Robots <02_sensors/sensors_on_robot>

Markers
-------
The `markers` section focuses on how to add different visualization markers in the Orbit Software.

.. toctree::
    :maxdepth: 1

    Markers <03_markers/markers>


Control
-------
The `control` section focuses on how to implement controllers within Orbit.

.. toctree::
    :maxdepth: 1

    Markers <04_controllers/ik_controller>

Please refer to the individual guides in each section for detailed instructions and examples.


Gym
---

.. toctree::
    :maxdepth: 1

    Gym Wrappers <05_gym/wrappers>
