Docs preview (#5606)

* add UE4 warning

* fixed UE4 build warning

* removed file

* created inst seg tutorial

* added instance segmentation image

* added to index

* fix

* added menu entries

* texture streaming tutorial

* reorganised instance segmentation tutorial

* texture tutorial revision

* typos

* typos

* added PIL link

* added tooltip

* remove tooltip image

* replace tooltip image

* removed tooltip image

* added tooltip image

* replaced image

* texture streaming tutorial update

* started pedestrian bones tutorial

* added image

* updates

* updates

* added download link for skeleton.txt

* fixed link

* fixed link

* completed pedestrian tutorial

* small change

* small fix

* TM tutorial

* added new gif

* typo

* finished TM tutorial

* small edit

* small edit

* typo

* pygame tutorial

* added gif to pygame tutorial

* corrected gif location

* replaced manual_control.gif

* typos

* fixed pygame tutorial

* import numpy

* pedestrian tutorial corrections

* corrected pedestrian bones tutorial

* added actors and blueprints

* indexed getting started tutorial

* fixed links

* index.md refactor

* mkdocs.yml nav refactor

* mkdocs.yml syntax error

* main docs refactor

* new documentation structure

* content authoring tutorials

* content authoring tutorial

* content authoring

* latest changes

* vehicle authoring tutorial

* finished vehicle content tutorial

* finished vehicles tutorial

* adjusted outline

* finalise authoring tutorials

* rearrange index.md

* extended index.md

* change mkdocs format

* update jinja version

* bounding box tutorial

* fix stray files

* remove changes in build.sh

* proof read

* guillermo's pr edits

* bbox tutorial changes

* guillermo's pr edits 1

* added modeling guidelines and blender add on

* added COCO export format

* added bounding boxes to tutorials

* merged bounding box tutorial

* added Ubuntu 20.04 installation commands

* image updates

* add empty menu item

* added new maps authorship images

Co-authored-by: germanros1987 <38517452+germanros1987@users.noreply.github.com>

Docs/build_linux.md

@@ -22,7 +22,7 @@ If you come across errors or difficulties then have a look at the **[F.A.Q.](bui
 
 ### System requirements
 
-* __Ubuntu 18.04.__ CARLA provides support for previous Ubuntu versions up to 16.04. **However** proper compilers are needed for Unreal Engine to work properly. Dependencies for Ubuntu 18.04 and previous versions are listed separatedly below. Make sure to install the ones corresponding to your system.
+* __Ubuntu 18.04.__ CARLA provides support for previous Ubuntu versions up to 16.04. **However** proper compilers are needed for Unreal Engine to work properly. Dependencies for Ubuntu 18.04 and previous versions are listed separately below. Make sure to install the ones corresponding to your system.
 * __130 GB disk space.__ Carla will take around 31 GB and Unreal Engine will take around 91 GB so have about 130 GB free to account for both of these plus additional minor software installations. 
 * __An adequate GPU.__ CARLA aims for realistic simulations, so the server needs at least a 6 GB GPU although 8 GB is recommended. A dedicated GPU is highly recommended for machine learning. 
 * __Two TCP ports and good internet connection.__ 2000 and 2001 by default. Make sure that these ports are not blocked by firewalls or any other applications. 
@@ -48,6 +48,14 @@ sudo apt-get update
 !!! Warning
     The following commands depend on your Ubuntu version. Make sure to choose accordingly. 
 
+__Ubuntu 20.04__.
+```sh
+sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
+sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
+sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180
+```
+
 __Ubuntu 18.04__.
 
 ```sh

Docs/requirements.txt

@@ -1,3 +1,2 @@
 mkdocs == 1.2.3
 jinja2==3.0.3
-

Docs/tuto_content_authoring_maps.md

@@ -58,7 +58,7 @@ Now open a terminal at the root of the CARLA source directory and run `make impo
 
 You can now see your new map inside the Unreal Editor. Run `make launch` at the root of the CARLA source directory to launch the Unreal Editor. You will now see a new directory in the content browser named `map_package`. Within this directory in the location `Content > map_package > Maps > tutorial` you will now find your new map.
 
-![new_loaded_map](img/tuto_content_authoring_maps/loaded_new_map.png)
+![new_loaded_map](img/tuto_content_authoring_maps/new_map.png)
 
 You have now created the road network, the basis of your map.
 
@@ -80,7 +80,7 @@ Create a new folder in some appropriate location using the Unreal content browse
 
 We will import an FBX file containing the base mesh and the UV map, that we have exported from Blender.
 
-![farmhouse_blender](img/tuto_content_authoring_maps/farmhouse_blender.png)
+![farmhouse_blender](img/tuto_content_authoring_maps/farmhouse_in_blender.png)
 
 In the context menu, ensure that in the __Mesh__ section `Import Normals` is selected
  for `Normal Import Method` and that in the __Material__ section that `Do Not Create Material` is selected. Deselect `Import Textures` in the __Materials__ section since we will import them manually. These choices would differ if you wanted to use some textures already embedded in your FBX file. 
@@ -95,7 +95,7 @@ Open the ORM map by double clicking and deselect the `sRGB` option, to ensure th
 
 Right click in the content browser and select `Material` from the menu. A new material will be created in the content browser. Double click to edit it. Shift select the textures you imported and drag them into the material edit window, you will now get 3 new nodes in the material node editor. 
 
-![material_init](img/tuto_content_authoring_maps/material_init.png)
+![material_init](img/tuto_content_authoring_maps/initialise_material.png)
 
 Now connect the nodes according to the following rules:
 
@@ -107,7 +107,7 @@ Now connect the nodes according to the following rules:
 
 Your material node graph should now look similar to this: 
 
-![material_final](img/tuto_content_authoring_maps/material_final.png)
+![material_final](img/tuto_content_authoring_maps/material_connected.png)
 
 Save the material, then open the asset again and drag the material into the material slot. Your asset should now be fully textured.
 

Docs/tuto_content_authoring_vehicles.md

@@ -68,7 +68,7 @@ To look realistic within the simulation, the car needs to have rotating and whee
 
 Import or model the vehicle model mesh in your 3D modelling application. In this guide we will use Blender 3D. Ensure that the wheels are separable from the main body. Each wheel must be accessible as a distinct object. 
 
-![model_in_blender](img/tuto_content_authoring_vehicles/model_in_blender.png)
+![model_in_blender](img/tuto_content_authoring_vehicles/import_model_blender.png)
 
 It is important to ensure that the vehicle faces in the positive X direction, so the hood and windshield should be facing towards positive X. The car should also be oriented such that the floor to roof direction is in the positive Z direction. The wheels should be just grazing the X-Y plane and the origin should be situated where you would expect the vehicle's center of mass to be in the X-Y plane (not in the Z plane though).
 
@@ -76,13 +76,13 @@ It is important to ensure that the vehicle faces in the positive X direction, so
 
 Now add an armature to the center of the vehicle, ensure the object is properly centered, the root of the armature bone should be set at the origin. Switch to edit mode and rotate the armature 90 around the x axis. 
 
-![armature_init](img/tuto_content_authoring_vehicles/armature_init.png)
+![armature_init](img/tuto_content_authoring_vehicles/vehicle_base_bone.png)
 
 Now select the armature and add 4 more bones. Each of these bones needs to be located such that the root of the bone coincides with the centre of the each wheel. This can be achieved by locating the 3D cursor at the center of each wheel in edit mode. Select one of the wheels in object mode, select a vertex, press A to select all vertices then `Shift+S` and select `Cursor to selected`. This will locate the cursor in the center of the wheel. Then, in object mode, select the armature, switch to edit mode, select a bone and choose `Selection to cursor`. Your bone will now coincide with the wheel. Rotate each bone such that it lines up with the base of the armature. 
 
 For each wheel, it is recommended to name the bone according to the wheel it needs to be coupled to, this will help in identification later when you need to assign vertex groups to each bone. 
 
-![armature_full](img/tuto_content_authoring_vehicles/full_armature_blender.png)
+![armature_full](img/tuto_content_authoring_vehicles/all_vehicle_bones.png)
 
 ### Parenting 
 
@@ -96,11 +96,11 @@ Now you have parented the mesh to the armature, you now need to assign each whee
 
 Select the mesh tab of the properties (the green triangle). Inside the vertex groups tab of the mesh properties panel, you should now see the bones of your armature. Select the bone corresponding to the wheel you are editing and select `Assign`. Once you have rigged the wheels, rig all other parts of the vehicle to the base bone.
 
-![assign_bone](img/tuto_content_authoring_vehicles/assign_bone.gif)
+![assign_bone](img/tuto_content_authoring_vehicles/assign_vertex_group.gif)
 
 Once you have assigned all of the mesh parts to the armature you can test if it works by selecting the armature and moving to pose mode and moving the relevant bones. The vehicle base bone should move the whole vehicle, while the wheel bones should each move and rotate their respective wheels. Ensure to undo any posing you might do with `Ctrl+Z`.
 
-![test_armature](img/tuto_content_authoring_vehicles/test_armature.gif)
+![test_armature](img/tuto_content_authoring_vehicles/test_pose.gif)
 
 ### Blender UE4 vehicle rigging add-on
 
@@ -124,13 +124,19 @@ Launch the Unreal Editor with the `make launch` command from the CARLA root dire
 
 You will now have 3 things in your content browser directory, the mesh, the skeleton and the physics asset. Double click on the physics asset to adjust it.
 
-![regenerate_body](img/tuto_content_authoring_vehicles/regenerate_body.png)
+![regenerate_body](img/tuto_content_authoring_vehicles/physics_asset.png)
 
-First, select the main body, in the `Details` menu on the right, change the `Linear Damping` to 0.0 in the `Physics` section, check `Simulation Generates Hit Events` in the `Collision` section and change the `Primitive Type` from `Capsule` to `Box` in the `Body Creation` section. Then press `Regenterate bodies`. The capsule will now change to a rectangular box. Then select the wheels. 
+First, select the main body, in the `Details` menu on the right, change the `Linear Damping` to 0.0 in the `Physics` section, check `Simulation Generates Hit Events` in the `Collision` section and change the `Primitive Type` from `Capsule` to `Box` in the `Body Creation` section. Then press `Regenterate bodies`. The capsule will now change to a rectangular box. Then select the wheels.
 
-Now select the wheels (in the `Skeleton Tree` section on the left). Change `Linear Damping` to 0.0, set `Physics Type` to `Kinematic`, set `Collision Response` toe `Disabled` and select the `Primitive Type` as `Sphere`. Press `Re-generate Bodies` once more.
+![physics_details](img/tuto_content_authoring_vehicles/physics_details.png)
 
-![regenerate_wheels](img/tuto_content_authoring_vehicles/regenerate_wheels.png)
+Now select all the wheels (in the `Skeleton Tree` section on the left). 
+
+![regenerate_wheels](img/tuto_content_authoring_vehicles/wheels_asset.png)
+
+Change `Linear Damping` to 0.0, set `Physics Type` to `Kinematic`, set `Collision Response` to `Disabled` and select the `Primitive Type` as `Sphere`. Press `Re-generate Bodies` once more.
+
+![regenerate_wheels](img/tuto_content_authoring_vehicles/wheel_physics_details.png)
 
 ### Creating the animation
 
@@ -140,7 +146,7 @@ In the content browser directory where you have your new vehicle asset, right cl
 
 To simplify things, we can copy the animation from another vehicle. In a second content browser, open `Content > Carla > Static > Vehicles > 4Wheeled` and choose any vehicle. Open the animation blueprint of your chosen vehicle and then copy all nodes that are not the `Output pose` node from this into your new animation blueprint. Connect the nodes by dragging a new connection between the final node to the output node. Press compile and the animation blueprint is now set.
 
-![copy_nodes](img/tuto_content_authoring_vehicles/copy_nodes.gif)
+![copy_nodes](img/tuto_content_authoring_vehicles/animation_blueprint_setup.gif)
 
 ### Creating the blueprint
 
@@ -148,7 +154,7 @@ Navigate with your content browser into `Content > Carla > Blueprints > Vehicles
 
 ![copy_wheels](img/tuto_content_authoring_vehicles/copy_wheels.png)
 
-Right click in the content browser directory where your new vehicle assets are and chose `Blueprint Class`. search in the `All Classes` menu for `BaseVehiclePawn` and choose this class. Name the blueprint and open it. Select `Mesh` in the `Components` tab on the left and then drag the vehicle mesh into the Mesh section on the right hand side.
+Right click in the content browser directory where your new vehicle assets are and chose `Blueprint Class`. Search in the `All Classes` menu for `BaseVehiclePawn` and choose this class. Name the blueprint and open it. Select `Mesh` in the `Components` tab on the left and then drag the vehicle mesh into the Mesh section on the right hand side.
 
 ![blueprint_with_mesh](img/tuto_content_authoring_vehicles/blueprint_with_mesh.png)
 
@@ -156,13 +162,13 @@ In `Anim Class` search for the animation corresponding to your new vehicle that
 
 Next, select `Vehicle Movement` in the `Components` menu of the blueprint class and in the right `Details` menu navigate to the `Vehicle Setup` section. Now for each wheel, find the relevant wheel blueprint that you previously copied and renamed for the `Wheel Class` attribute. Do the same for each wheel. Compile and save.
 
-![wheel_setup](img/tuto_content_authoring_vehicles/wheel_setup.gif)
+![wheel_setup](img/tuto_content_authoring_vehicles/vehicle_wheel_setup.gif)
 
 Now navigate to `Content > Carla > Blueprints > Vehicles > VehicleFactory` and double click this to open the Vehicle Factory.
 
 Select the `Vehicles` node and expand the `Vehicles` item in the `Default value` section on the right hand side.
 
-![vehicle_factory](img/tuto_content_authoring_vehicles/vehicle_factory.png)
+![vehicle_factory](img/tuto_content_authoring_vehicles/vehicle_factory_page.png)
 
 Press the plus icon to add your new vehicle. Scroll down to the last entry and expand it, it should be empty. Name the make and model of your vehicle and under the class section find your blueprint class that you created in the previous section. Leave the number of wheels as 4 and put the generation as 2. Compile and save. Do a global save for safety and you are now..ready to run your vehicle in a simulation. 
 
@@ -207,7 +213,7 @@ The color settings govern the overall color of the car. The base color is simply
 
 The clear coat settings govern the appearance of the finish and how it reacts to light. The roughness uses a texture to apply imperfections to the vehicle surface, scattering light more with higher values to create a matte look. Subtle adjustments and low values are recommended for a realistic look. Generally, car paint jobs are smooth and reflective, however, this effect might be used more generously to model specialist matte finishes of custom paint jobs.
 
-![change_roughness](img/tuto_content_authoring_vehicles/change_roughness
+![change_roughness](img/tuto_content_authoring_vehicles/roughness
 .gif)
 
 An important parameter to govern the "shininess" or "glossiness" of your car is the `Clear Coat Intensity`. High values close to 1 will make the coat shiny and glossy.
@@ -216,7 +222,7 @@ An important parameter to govern the "shininess" or "glossiness" of your car is
 
 Finishes on real cars (particularly on mass produced cars for the general market) tend to have imperfections that appear as slight ripples in the paint. The orange peel effect mimics this and makes cars look more realistic.
 
-![change_orange_peel](img/tuto_content_authoring_vehicles/change_orange_peel
+![change_orange_peel](img/tuto_content_authoring_vehicles/orange_peel
 .gif)
 
 #### __Flakes__
@@ -230,7 +236,7 @@ Some cars have paint jobs that include flakes of other material, such as metals
 
 Cars often accumulate grease and dust on the body that adds additional texture to the paint, affecting the way it reflects the light. The dust parameters allow you to add patches of disruption to the coat to mimic foreign materials sticking to the paint. 
 
-![dust](img/tuto_content_authoring_vehicles/dust
+![dust](img/tuto_content_authoring_vehicles/change_dust
 .gif)
 
 ## Glass
@@ -243,11 +249,11 @@ There are 2 layers of glass for the appearance of the vehicle from outside and 2
 
 Here we see the glass parts attached to the main bodywork (not the doors or other moving parts) of the Lincoln.
 
-![main_glass](img/tuto_content_authoring_vehicles/main_glass.png)
+![main_glass](img/tuto_content_authoring_vehicles/glass.png)
 
 If we separate the constituent mesh parts, we can see that the glass profile is separated into 4 different layers. 
 
-![main_glass_expanded](img/tuto_content_authoring_vehicles/main_glass_expanded.png)
+![main_glass_expanded](img/tuto_content_authoring_vehicles/glass_expanded.png)
 
 The 4 layers are separated into 2 groups, the exterior layers, with normals facing out of the vehicle and the interior layers, with mesh normals facing into the vehicle interior. The following diagram demonstrates 
 
@@ -309,7 +315,7 @@ Next, we  set the tire configuration. Inside `Content > Carla > Blueprints > Veh
 
 Next, in your 3D application, measure the diameter of your wheel. In Blender, the dimensions can be viewed in the properties panel opened by pressing `n` in object mode.
 
-![tire_dimensions](img/tuto_content_authoring_vehicles/tire_dimensions.png)
+![tire_dimensions](img/tuto_content_authoring_vehicles/wheel_dims.png)
 
 Now plug these numbers into the `Wheel` section of the blueprint.Take care to remember to half the diameter for the radius and also that Unreal Editor works in units of centimeters. For the wheel mass, we recommend looking for specifications on the internet, find the right tire model or a similar one to estimate the correct mass (in kilograms).
 

Docs/tutorials.md

@@ -37,4 +37,9 @@ Here you will find the multitude of tutorials available to help you understand h
 [__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation.  
 [__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle.  
 [__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles.  
-[__Make a release__](tuto_D_make_release.md) — How to make a release of CARLA
+[__Make a release__](tuto_D_make_release.md) — How to make a release of CARLA
+
+## Video tutorials
+
+[__Fundamentals__](https://www.youtube.com/watch?v=pONr1R1dy88) — Learn the fundamental concepts of CARLA and start your first script. [__CODE__](https://carla-releases.s3.eu-west-3.amazonaws.com/Docs/Fundamentals.ipynb)  
+[__An in depth look at CARLA's sensors__](https://www.youtube.com/watch?v=om8klsBj4rc) — An in depth look at CARLA's sensors and how to use them. [__CODE__](https://carla-releases.s3.eu-west-3.amazonaws.com/Docs/Sensors_code.zip)

mkdocs.yml

@@ -15,10 +15,8 @@ nav:
   - 'Building CARLA' : 'build_carla.md'
 
 - Next steps:
-  - 'Content authoring':
+  - 'Content authoring - maps': 'tuto_content_authoring_maps.md'  
-    - 'Authoring maps': 'tuto_content_authoring_maps.md'
+  - 'Content authoring - vehicles': 'tuto_content_authoring_vehicles.md'  
-    - 'Authoring vehicles': 'tuto_content_authoring_vehicles.md'
-
 
 - CARLA topics:
   - 'Foundations': 'foundations.md'
@@ -37,23 +35,23 @@ nav:
   - 'Extended documentation': 'ext_docs.md'
 
 - CARLA Ecosystem:
-  - 'ROS': 'https://carla.readthedocs.io/projects/ros-bridge/en/latest/'
+  - 'ANSYS': 'ecosys_ansys.md'
-  - 'MathWorks': 'large_map_roadrunner.md'
+  - 'AWS': 'tuto_G_rllib_integration.md'
-  - 'SUMO': 'adv_sumo.md'
-  - 'Scenic': 'tuto_G_scenic.md'
   - 'CarSIM': 'tuto_G_carsim_integration.md'
   - 'Chrono': 'tuto_G_chrono.md'
+  - 'MathWorks': 'large_map_roadrunner.md'
   - 'OpenDRIVE': 'adv_opendrive.md'
   - 'PTV Vissim': 'adv_ptv.md'
   - 'RSS': 'adv_rss.md'
-  - 'AWS': 'tuto_G_rllib_integration.md'
+  - 'ROS': 'https://carla.readthedocs.io/projects/ros-bridge/en/latest/'
-  - 'ANSYS': 'ecosys_ansys.md'
+  - 'Scenic': 'tuto_G_scenic.md'
-  
+  - 'SUMO': 'adv_sumo.md'
 
 - Contributing:
   - 'Guidelines': 'cont_contribution_guidelines.md' 
   - 'Coding standards': 'cont_coding_standard.md'
   - 'Documentation standard': 'cont_doc_standard.md'
+  - '': ''
  
 markdown_extensions:
   - admonition