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doc/setup_en.md

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+# Installation Guide
+
+## System Requirements
+
+- **Operating System**: Recommended Ubuntu 18.04 or later  
+- **GPU**: Nvidia GPU  
+- **Driver Version**: Recommended version 525 or later  
+
+---
+
+## 1. Creating a Virtual Environment
+
+It is recommended to run training or deployment programs in a virtual environment. Conda is recommended for creating virtual environments. If Conda is already installed on your system, you can skip step 1.1.
+
+### 1.1 Download and Install MiniConda
+
+MiniConda is a lightweight distribution of Conda, suitable for creating and managing virtual environments. Use the following commands to download and install:
+
+```bash
+mkdir -p ~/miniconda3
+wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
+bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
+rm ~/miniconda3/miniconda.sh
+```
+
+After installation, initialize Conda:
+
+```bash
+~/miniconda3/bin/conda init --all
+source ~/.bashrc
+```
+
+### 1.2 Create a New Environment
+
+Use the following command to create a virtual environment:
+
+```bash
+conda create -n unitree-rl python=3.8
+```
+
+### 1.3 Activate the Virtual Environment
+
+```bash
+conda activate unitree-rl
+```
+
+---
+
+## 2. Installing Dependencies
+
+### 2.1 Install PyTorch
+
+PyTorch is a neural network computation framework used for model training and inference. Install it using the following command:
+
+```bash
+conda install pytorch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 pytorch-cuda=12.1 -c pytorch -c nvidia
+```
+
+### 2.2 Install Isaac Gym
+
+Isaac Gym is a rigid body simulation and training framework provided by Nvidia.
+
+#### 2.2.1 Download
+
+Download [Isaac Gym](https://developer.nvidia.com/isaac-gym) from Nvidia’s official website.
+
+#### 2.2.2 Install
+
+After extracting the package, navigate to the `isaacgym/python` folder and install it using the following commands:
+
+```bash
+cd isaacgym/python
+pip install -e .
+```
+
+#### 2.2.3 Verify Installation
+
+Run the following command. If a window opens displaying 1080 balls falling, the installation was successful:
+
+```bash
+cd examples
+python 1080_balls_of_solitude.py
+```
+
+If you encounter any issues, refer to the official documentation at `isaacgym/docs/index.html`.
+
+### 2.3 Install rsl_rl
+
+`rsl_rl` is a library implementing reinforcement learning algorithms.
+
+#### 2.3.1 Install
+
+```bash
+cd rsl_rl
+pip install -e .
+```
+
+### 2.4 Install go2_rl_gym
+
+#### 2.4.1 Download
+
+Clone the repository using Git:
+
+```bash
+git clone https://github.com/unitreerobotics/go2_rl_gym.git
+```
+
+#### 2.4.2 Install
+
+Navigate to the directory and install it:
+
+```bash
+cd go2_rl_gym
+pip install -e .
+```
+
+### 2.5 Install unitree_cpp_deploy (Optional)
+
+Refer to our C++ deployment repository, which is based on unitree_rl_lab and specifically designed for deploying models trained in this repository: [unitree_cpp_deploy](https://github.com/wty-yy-mini/unitree_cpp_deploy).

doc/setup_zh.md

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+# 安装配置文档
+
+## 系统要求
+
+- **操作系统**：推荐使用 Ubuntu 18.04 或更高版本  
+- **显卡**：Nvidia 显卡  
+- **驱动版本**：建议使用 525 或更高版本  
+
+---
+
+## 1. 创建虚拟环境
+
+建议在虚拟环境中运行训练或部署程序，推荐使用 Conda 创建虚拟环境。如果您的系统中已经安装了 Conda，可以跳过步骤 1.1。
+
+### 1.1 下载并安装 MiniConda
+
+MiniConda 是 Conda 的轻量级发行版，适用于创建和管理虚拟环境。使用以下命令下载并安装：
+
+```bash
+mkdir -p ~/miniconda3
+wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
+bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
+rm ~/miniconda3/miniconda.sh
+```
+
+安装完成后，初始化 Conda：
+
+```bash
+~/miniconda3/bin/conda init --all
+source ~/.bashrc
+```
+
+### 1.2 创建新环境
+
+使用以下命令创建虚拟环境：
+
+```bash
+conda create -n unitree-rl python=3.8
+```
+
+### 1.3 激活虚拟环境
+
+```bash
+conda activate unitree-rl
+```
+
+---
+
+## 2. 安装依赖
+
+### 2.1 安装 PyTorch
+
+PyTorch 是一个神经网络计算框架，用于模型训练和推理。使用以下命令安装：
+
+```bash
+conda install pytorch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 pytorch-cuda=12.1 -c pytorch -c nvidia
+```
+
+### 2.2 安装 Isaac Gym
+
+Isaac Gym 是 Nvidia 提供的刚体仿真和训练框架。
+
+#### 2.2.1 下载
+
+从 Nvidia 官网下载 [Isaac Gym](https://developer.nvidia.com/isaac-gym)。
+
+#### 2.2.2 安装
+
+解压后进入 `isaacgym/python` 文件夹，执行以下命令安装：
+
+```bash
+cd isaacgym/python
+pip install -e .
+```
+
+#### 2.2.3 验证安装
+
+运行以下命令，若弹出窗口并显示 1080 个球下落，则安装成功：
+
+```bash
+cd examples
+python 1080_balls_of_solitude.py
+```
+
+如有问题，可参考 `isaacgym/docs/index.html` 中的官方文档。
+
+### 2.3 安装 rsl_rl
+
+`rsl_rl` 是一个强化学习算法库。
+
+#### 2.3.1 安装
+
+```bash
+cd rsl_rl
+pip install -e .
+```
+
+### 2.4 安装 go2_rl_gym
+
+#### 2.4.1 下载
+
+通过 Git 克隆仓库：
+
+```bash
+git clone https://github.com/wty-yy/go2_rl_gym.git
+```
+
+#### 2.4.2 安装
+
+进入目录并安装：
+
+```bash
+cd go2_rl_gym
+pip install -e .
+```
+
+### 2.5 真机部署（可选）
+
+#### 2.5.1 unitree_sdk2
+
+C++ sdk, 编译参考[官方教程](https://github.com/unitreerobotics/unitree_sdk2?tab=readme-ov-file#environment-setup)
+
+#### 2.5.2 unitree_sdk2_python（选择用Python部署）
+
+```bash
+conda create -n kaiwu python=3.8
+conda activate kaiwu
+pip3 install pytorch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 pytorch-cuda=12.1 -c pytorch -c nvidia
+
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python
+pip install -e .
+```
+
+### 2.5.3 安装 unitree_cpp_deploy（选择用C++部署）
+
+我们基于unitree_rl_lab修改的C++部署仓库，专门用于部署本仓库训练的模型 [unitree_cpp_deploy](https://github.com/wty-yy-mini/unitree_cpp_deploy)