README: drive the environment as a sim robot, in-process or served

README.md

@@ -47,14 +47,16 @@ From a LeRobot checkout, start the server (the image installs `requirements.txt`
 lerobot-env-server --docker --envhub=maximellerbach/omx-multicubes-mujoco
 ```
 
-Then run a policy trained on one of the datasets, selecting its task:
+Then drive it as a robot, here with a policy:
 
 ```bash
-lerobot-rollout --robot.type=remote --robot.endpoint=tcp/127.0.0.1:7448 \
-  --robot.deployment=envhub --robot.task=omx_multicubes \
+lerobot-rollout --robot.type=sim --robot.endpoint=tcp/127.0.0.1:7448 \
+  --robot.env.type=envhub --robot.env.hub_path=maximellerbach/omx-multicubes-mujoco --robot.env.task=omx_multicubes \
   --policy.path=maximellerbach/omx_multicubes_act --fps=30
 ```
 
+Without `--robot.endpoint`, the same command runs the environment in-process (with `--robot.env.trust_remote_code=true` and the requirements installed next to LeRobot). `lerobot-eval` takes the same options as `--env.*`, e.g. `--env.type=envhub --env.hub_path=maximellerbach/omx-multicubes-mujoco --env.task=omx_multicubes`.
+
 ## In-process
 
 ```python