add PG

documentation/PG.rst

@@ -2,5 +2,20 @@
 PG
 ############
 
-Known Issues
+The PG scenarios are collected by running simulation and record the episodes in MetaDrive simulator.
+The name PG refers to Procedural Generation, which is a technique used to generate maps.
+When a map is determined, the vehicles and objects will be spawned and actuated  according to a hand-crafted rules.
+
+Build PG Database
+===================
+
+If MetaDrive is installed, there is no any further steps required to build the database. Just run the following
+command to generate, i.e. 1000 scenarios::
+
+    python -m scenarionet.convert_pg -d /path/to/pg_database --num_scenarios 1000
+
+
+Known Issues: PG
 ==================
+
+N/A

documentation/example.rst

@@ -42,7 +42,7 @@ And place the downloaded tfrecord file to a folder. Let's call it ``exp_waymo``
     Likewise, place all downloaded tfrecord files to the same folder.
 
 
-3. Build Database
+3. Build Mini Database
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Run the following command to extract scenarios in ``exp_waymo`` to ``exp_converted``::

documentation/lyft.rst

@@ -24,7 +24,8 @@ The dataset includes:
     using new Lyft data.
 
 
+Known Issues: Lyft
+===================
 
-Known Issues
+N/A
-#############
 

documentation/nuplan.rst

@@ -2,5 +2,7 @@
 nuPlan
 #############################
 
-Known Issues
+Known Issues: nuPlan
-==================
+======================
+
+N/A

documentation/nuscenes.rst

@@ -2,5 +2,7 @@
 nuScenes
 #############################
 
-Known Issues
+Known Issues: nuScenes
-==================
+=======================
+
+N/A

documentation/waymo.rst

@@ -26,7 +26,7 @@ The dataset includes:
 - Adjusted some road edge boundary height estimates
 
 
-1. Install requirements
+1. Install Waymo Toolkit
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 First of all, we have to install the waymo toolkit and tensorflow::
@@ -40,7 +40,7 @@ First of all, we have to install the waymo toolkit and tensorflow::
 .. note::
     This package is only supported on Linux platform.
 
-2. Download Raw Data
+2. Download TFRecord
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Waymo motion dataset is at `Google Cloud <https://console.cloud.google.com/storage/browser/waymo_open_dataset_motion_v_1_2_0>`_.
@@ -72,7 +72,7 @@ The downloaded data should be stored in a directory like this::
         └── ...
 
 
-3. Build Database
+3. Build Waymo Database
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Run the following command to extract scenarios in any directory containing ``tfrecord``.
@@ -82,7 +82,7 @@ Here we take converting raw data in ``training_20s`` as an example::
 
 Now all converted scenarios will be placed at ``/path/to/your/database`` and are ready to be used in your work.
 
-Known Issues
+Known Issues: Waymo
-==================
+=====================
 
 N/A