# User Guide

The User Guide provides in-depth information about the core concepts and components of the Robot Control Stack.

If you want the quickest orientation first, start with:

- [RCS Conventions](conventions.md)
- [Sim Scene Configuration](scene_configuration.md)

```{toctree}
:maxdepth: 2

architecture
gym_interface
low_level_api
conventions
scene_configuration
```