finish #47 documentation

README.md

@@ -54,6 +54,18 @@ python ~/repos/openrave-yarp-plugins/examples/openraveYarpPluginLoader-controlbo
 yarp rpc /teoSim/[kinematic chain name]/rpc:i
 ```
 
+If you do not have or want to use Python, the direct CLI one-liner succesor of `teoSim` is:
+```bash
+openrave /usr/local/share/teo-openrave-models/contexts/openrave/teo/teo.robot.xml --module OpenraveYarpPluginLoader "open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --allManipulators"
+```
+
+We can even do funky commands like the following, where `open` acts as a delimiter:
+```bash
+openrave /usr/local/share/teo-openrave-models/contexts/openrave/teo/teo.robot.xml --module OpenraveYarpPluginLoader "open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --manipulatorIndex 0 open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --manipulatorIndex 2"
+```
+
+Note that OpenraveYarpPluginLoader uses OpenRAVE plugins `main()`, affected by #59 and #60.
+
 # Tutorials: (How to use openrave-yarp-plugins for collision avoidance of a simulated robot)
 The following commands explain how to use the openrave-yarp-plugins for collision avoidance, using the previous instance of openrave-yarp-plugins as the remote robot.