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examples/simple_client/README.md

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+# Simple Client
+
+A minimal client that sends observations to the server and prints the inference rate.
+
+You can specifiy which runtime environment to use using the `--env` flag. You can see the available options by running:
+
+```bash
+uv run examples/simple_client/main.py --help
+```
+
+## With Docker
+
+```bash
+export SERVER_ARGS="--env ALOHA_SIM"
+docker compose -f examples/simple_client/compose.yml up --build
+```
+
+## Without Docker
+
+Terminal window 1:
+
+```bash
+uv run examples/simple_client/main.py --env DROID
+```
+
+Terminal window 2:
+
+```bash
+uv run scripts/serve_policy.py --env DROID
+```