docs: simplified readme

Author: juelg

README.md

@@ -1,5 +1,5 @@
 # Robot Control Stack
-RCS is a unified and multilayered robot control interface over a MuJoCo simulation and real world robot currently implemented for the FR3.
+RCS is a unified and multilayered robot control interface over a MuJoCo simulation and real world robot currently implemented for the FR3/Panda, xArm7, UR5e and SO101.
 ## Requirements
 We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
 
@@ -28,32 +28,6 @@ pip config --site set global.no-build-isolation false
 pip install -ve .
 ```
 
-## Docker (GUI + GPU + HW add-ons)
-
-**Prereqs:** Docker + docker-compose, X11 on host, NVIDIA driver + NVIDIA Container Toolkit (legacy `runtime: nvidia`).  
-**Layout:** `docker/Dockerfile`, overrides in `docker/compose/` (`base.yml`, `gui.yml`, `gpu.yml`, `hw.yml`).
-
-### Build the image
-`docker-compose -f docker/compose/base.yml build dev`
-
-### (GUI) allow X access (host)
-`export XAUTHORITY=${XAUTHORITY:-$HOME/.Xauthority}`  
-`xhost +local:docker`
-
-### Run container with GUI + GPU + HW and open a shell
-`docker-compose -f docker/compose/base.yml -f docker/compose/gui.yml -f docker/compose/gpu.yml -f docker/compose/hw.yml run --rm run bash`  
-*(Use fewer `-f` files for lighter setups, e.g., GUI+GPU without HW.)*
-
-### Inside the container
-`pip install -ve extensions/rcs_fr3`  
-`cd examples`  
-`python fr3_env_cartesian_control.py`
-
-### Troubleshooting
-- **`nvidia-smi` missing in container:** ensure it exists on host at `/usr/bin/nvidia-smi` (GPU override bind-mounts it).  
-- **GUI can’t open:** re-run the `xhost` command and confirm `$DISPLAY` is set on the host.  
-
-
 ## Usage
 The python package is called `rcs`.
 
@@ -118,74 +92,12 @@ for _ in range(100):
         print(act)
         obs, reward, terminated, truncated, info = env_rel.step(act)
         print(obs)
-        if truncated or terminated:
-            logger.info("Truncated or terminated!")
-            exit()
-```
-
-### Remote Procedure Call (RPC) Client and Server
-#### Server
-```python
-from rcs.envs.creators import SimEnvCreator
-from rcs.envs.utils import (
-	default_mujoco_cameraset_cfg,
-	default_sim_gripper_cfg,
-	default_sim_robot_cfg,
-)
-from rcs.envs.base import ControlMode, RelativeTo
-from rcs.rpc.server import RcsServer
-
-def run_server():
-	env = SimEnvCreator()(
-		control_mode=ControlMode.JOINTS,
-		collision_guard=False,
-		robot_cfg=default_sim_robot_cfg(),
-		gripper_cfg=default_sim_gripper_cfg(),
-		cameras=default_mujoco_cameraset_cfg(),
-		max_relative_movement=0.1,
-		relative_to=RelativeTo.LAST_STEP,
-	)
-	server = RcsServer(env, port=50051)
-	server.start()
- 
-if __name__ == "__main__":
-	run_server()
-```
-
-#### Client
-```python
-import time
-from python.rcs.rpc.client import RcsClient
-
-if __name__ == "__main__":
-    # Create the client (adjust host/port if needed)
-    client = RcsClient(host="localhost", port=50051)
-
-    try:
-        print("Resetting environment...")
-        obs = client.reset()
-        print(f"Initial observation: {obs}")
-
-        for i in range(5):
-            print(f"\nStep {i+1}")
-            # Replace with a valid action for your environment
-            action = 0
-            obs, reward, terminated, truncated, info = client.step(action)
-            print(f"Obs: {obs}, Reward: {reward}, Terminated: {terminated}, Truncated: {truncated}, Info: {info}")
-            if terminated or truncated:
-                print("Episode finished, resetting...")
-                obs = client.reset()
-                print(f"Reset observation: {obs}")
-            time.sleep(0.5)
-    finally:
-        print("Closing client.")
-        client.close()
 ```
 
 
 ### Examples
 Checkout the python examples in the [examples](examples) folder:
-- [fr3_direct_control.py](examples/fr3.py) shows direct robot control with RCS's python bindings
+- [fr3_direct_control.py](examples/fr3_direct_control.py) shows direct robot control with RCS's python bindings
 - [fr3_env_joint_control.py](examples/env_joint_control.py) and [fr3_env_cartesian_control.py](examples/env_cartesian_control.py) demonstrates RCS's high level [gymnasium](https://gymnasium.farama.org/) interface both for joint- and end effector space control
 All of these examples work both in the MuJoCo simulation as well as on your hardware FR3.
 
@@ -213,31 +125,5 @@ python -m rcs_fr3 --help
 python -m rcs_realsense --help
 ```
 
-## Development
-### Formatting and Linting
-```shell
-# check for c++ formatting errors
-make cppcheckformat
-# fix them
-make cppformat
-# Linting with clang tidy
-make cpplint
-# check for python formatting errors
-make pycheckformat
-# fix them
-make pyformat
-# Linting with ruff and mypy
-make pylint
-# Testing
-make pytest
-```
-### Stub Files for Python Bindings
-We use autogenerated python stub files (`.pyi`) in the [`_core`](python/rcs/_core/) folder to show our linters the expected types of the C++ Python bindings.
-If the python bindings in the C++ code have changed you might need to regenerate them by using:
-```shell
-make stubgen
-```
-
-### Develop Your Own Hardware Extension
-TODO
-
+## Developer Documentation
+See our documentation page [robot-control-stack.org](https://robot-control-stack.org) for the development documentation.