# Developer Guide

```{toctree}
:caption: Parameter Reference
:maxdepth: 1

parameter_reference/legged_robot_config
```

```{toctree}
:caption: API Reference
:maxdepth: 1

api_reference/algorithms
api_reference/legged_robot
api_reference/simulator
api_reference/task_registry
```

```{toctree}
:caption: How-To Guides
:maxdepth: 1

how_to/add_new_robot
how_to/add_new_method
how_to/custom_rewards
how_to/domain_randomization
```

```{toctree}
:caption: Known Issues
:maxdepth: 1

known_issues/genesis
```