From 6d032a20dac8b8834e99c03e569cffa8b5b3815b Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Sun, 2 Jul 2023 02:15:00 +0200
Subject: [PATCH] docs improvements

---
 docs/index.rst     |  1 +
 docs/install.rst   |  2 +-
 docs/mvsim-cli.rst | 14 ++++++++++++++
 docs/world_gui.rst | 14 ++++++++++++--
 4 files changed, 28 insertions(+), 3 deletions(-)
 create mode 100644 docs/mvsim-cli.rst

diff --git a/docs/index.rst b/docs/index.rst
index f2eefdf0..e80c0113 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -16,6 +16,7 @@ MVSim: a lightweight MultiVehicle Simulator
    first-steps
    architecture
    world
+   mvsim-cli
    physics
    extending
    C++ API <doxygen/html/modules.html#http://>
diff --git a/docs/install.rst b/docs/install.rst
index d1d60296..90ae1cbe 100644
--- a/docs/install.rst
+++ b/docs/install.rst
@@ -6,7 +6,7 @@ From ROS 1 or ROS 2 repositories
 
 **Recommended**: This is probably the easiest way to install MVSim and all the example files.
 
-In Debian/Ubuntu systems, activateyour ROS environment (``setup.bash``) if not done automatically 
+In Debian/Ubuntu systems, activate your ROS environment (``setup.bash``) if not done automatically 
 in your ``~./bashrc`` file, then just run:
 
 .. code-block:: bash
diff --git a/docs/mvsim-cli.rst b/docs/mvsim-cli.rst
new file mode 100644
index 00000000..ec38e026
--- /dev/null
+++ b/docs/mvsim-cli.rst
@@ -0,0 +1,14 @@
+mvsim cli
+===================
+
+The command-line interface (cli) application ``mvsim`` is the main
+entry-point to run, query, or modify a running simulation from a 
+command line terminal.
+
+.. note::
+   The ROS node is a different cli application, named ``mvsim_node`` instead.
+
+
+
+Write me!
+
diff --git a/docs/world_gui.rst b/docs/world_gui.rst
index 8e9f625c..201d590c 100644
--- a/docs/world_gui.rst
+++ b/docs/world_gui.rst
@@ -12,7 +12,12 @@ Available parameters under the global ``<gui> ... </gui>`` tag (all are optional
   cost. Publication of sensor readings, odometry, etc. is not affected at all by this parameter.
 
 - ``<show_sensor_points>true</show_sensor_points>``. If enabled (default),
-  obstacle readings will be visible in the GUI as pointclouds.
+  obstacle readings (RGBD cameras, 2D or 3D Lidars, etc.) will be visible as point clouds.
+  This option can be also dynamically switched from the UI:
+
+.. raw:: html
+
+   <video controls autoplay loop muted> <source src="https://mrpt.github.io/mvsim-models/anims/mvsim-docs-gui-view-pointclouds.mp4" type="video/mp4"> </video>
 
 - ``<headless>false</headless>``. If enabled, MVSim will run without
   any interactive GUI. Useful to save some CPU/GPU usage or to run 
@@ -23,7 +28,12 @@ Available parameters under the global ``<gui> ... </gui>`` tag (all are optional
 
 - ``<show_forces>false</show_forces>`` and ``<force_scale>0.01</force_scale>``. If
   ``show_forces`` is set to ``true``, reaction forces will be visible as thin lines, using
-  the given scale in meters/Newton.
+  the given scale in meters/Newton. This option can be also dynamically switched from the UI:
+
+.. raw:: html
+
+   <video controls autoplay loop muted> <source src="https://mrpt.github.io/mvsim-models/anims/mvsim-docs-gui-view-forces.mp4" type="video/mp4"> </video>
+
 
 - ``<ortho>false</ortho>``. If set to ``true``, the GUI will show an orthographic view 
   of the world. Otherwise, it will use a standard perspective camera.