docs: add physical deploment

README.md

@@ -78,11 +78,16 @@ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
 
 ### Physical Deployment
 
-Open a new terminal, run the control program
+The connection to the physical robot can be done in both wireless and wired forms.
+
+- Wireless: Connect to the WIFI starting with "Unitree" emitted by the robot **(Note: Wireless connection may experience packet loss, disconnection, or even loss of control, please pay attention to safety)**
+- Wired: Use an Ethernet cable to connect any port on the computer to the robot, configure the computer's IP as 192.168.123.162, and the gateway as 255.255.255.0.
+
+Create a new terminal and launch the control program.
 
 ```bash
 source devel/setup.bash
 rosrun rl_sar rl_real
 ```
 
-> Some code references: https://github.com/mertgungor/unitree_model_control
+Press the **R2** button on the remote control to switch the robot to the default standing posture, press **R1** to switch to RL control mode, and press **L2** in any state to switch back to the initial lying posture. The left joystick controls x-axis up and down, controls yaw left and right, and the right joystick controls y-axis left and right.

README_CN.md

@@ -78,6 +78,11 @@ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
 
 ### 实物
 
+与实物的连接可分为无线与有线形式
+
+* 无线：连接机器人发出的Unitree开头的WIFI **（注意：无线连接可能会出现丢包断联甚至失控，请注意安全）**
+* 有线：用网线连接计算机和机器人的任意网口，配置计算机ip为192.168.123.162，网关255.255.255.0
+
 新建终端，启动控制程序
 
 ```bash
@@ -85,4 +90,4 @@ source devel/setup.bash
 rosrun rl_sar rl_real
 ```
 
-> 部分代码参考https://github.com/mertgungor/unitree_model_control
+按下遥控器的**R2**键让机器人切换到默认站起姿态，按下**R1**键切换到RL控制模式，任意状态按下**L2**切换到最初的趴下姿态。左摇杆上下控制x左右控制yaw，右摇杆左右控制y。