cleanup README PC section

old-commit-hash: 916c3b4c53

README.md

@@ -274,7 +274,8 @@ Safety and Testing
 
 Testing on PC
 ------
-For simplified development/experimentation/testing, you have the option to run openpilot and Carla driving simulator in Docker, which allows you to develop openpilot software without buying/having a supported car. 
+For simplified development and experimentation, openpilot runs in the CARLA driving simulator, which allows you to develop openpilot without a car.
+
 Steps:
 1) Start the CARLA server on first terminal
 ```
@@ -286,9 +287,9 @@ bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools
 ```
 3) Press 1 to engage openpilot
 
-Full README at https://github.com/commaai/openpilot/blob/master/tools/sim/README.md
+See the full [README](tools/sim/README.md)
 
-You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
 
 
 Community and Contributing