docs: updated readme and deleted unused config.py

Author: juelg

README.md

@@ -1,4 +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.
 ## Requirements
 We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
 
@@ -29,17 +30,27 @@ Import the library in python:
 ```python
 import rcsss
 ```
-The package includes a command line interface which define useful commands to handle the hardware robot.
+Checkout the python examples that we provide in [python/examples](python/examples):
+- [fr3.py](python/examples/fr3.py) shows direct robot control with RCS's python bindings
+- [env_joint_control.py](python/examples/env_joint_control.py) and [env_cartesian_control.py](python/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.
+Just switch between the following settings in the example script
+```python
+ROBOT_INSTANCE = RobotInstance.SIMULATION
+# ROBOT_INSTANCE = RobotInstance.HARDWARE
+```
+and add your robot credentials to a `.env` file like this:
+```env
+DESK_USERNAME=...
+DESK_PASSWORD=...
+```
+
+### Command Line Interface
+The package includes a command line interface which define useful commands to handle the FR3 robot without the need to use the Desk Website.
 To list all available subcommands use:
 ```shell
 python -m rcsss --help
 ```
-A sample config can be generated via the following CLI command.
-```shell
-python -m rcsss sample-config
-```
-The command will produce a `config.yaml` file with sample values.
-See [config.py](python/rcsss/config.py) for a description of the config fields.
 
 ## Development
 ```shell