diff --git a/Asset/image-1.png b/Asset/image-1.png
new file mode 100644
index 0000000..83977c6
--- /dev/null
+++ b/Asset/image-1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87d7e3fbeba68f272b1cce88913963f592f613e4ab1013c0e1af56977715b76c
+size 34155
diff --git a/Asset/image-2.png b/Asset/image-2.png
new file mode 100644
index 0000000..fd63f16
--- /dev/null
+++ b/Asset/image-2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:652e6e983fcf9e8ec0fc64401c52c300aa52216c8881299483110fa5e6b14066
+size 156566
diff --git a/Asset/image.png b/Asset/image.png
new file mode 100644
index 0000000..c4ac446
--- /dev/null
+++ b/Asset/image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf82136be660853a4ee78436b416a595e0b2f4ae2b651c3f75f2f56de35b9b45
+size 173650
diff --git a/README.md b/README.md
index 65a726f..df75243 100644
--- a/README.md
+++ b/README.md
@@ -22,22 +22,57 @@ StrideSim은 Isaac Lab을 기반으로 한 프로젝트입니다. 이 저장소
    python -m pip install -e .
    ```
 
+## 꿀팁
+
+1. 환경변수 설정
+
+```bash
+# Isaac Sim root directory
+export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.0.0"
+# Isaac Sim python executable
+alias ISAACSIM_PYTHON="${ISAACSIM_PATH}/python.sh"
+# Isaac Sim app
+alias ISAACSIM="${ISAACSIM_PATH}/isaac-sim.sh"
+```
+
 ## 사용법
 
-1. 강화학습 라이브러리 설치 (Optional)
+1. 강화학습 라이브러리 설치
 
 ```bash
 cd rl
 python -m pip install -e .
 ```
 
-2. 강화학습 라이브러리 실행
+2. 강화학습 단독 실행
 
 ```bash
 python rl/train.py --task Template-Isaac-Velocity-Rough-Anymal-D-v0
 ```
 
-TODO
+3. StrideSim 실행
+
+3-1. 프로그램 실행
+
+   ```bash
+   # 환경변수 설정 후
+   ISAACSIM
+   ```
+
+3-2. 확장 프로그램 설정
+
+3-2-1. window -> extension 창으로 이동
+3-2-2. 삼지창 버튼을 눌러 확장 프로그램 경로 삽입 (본 프로젝트의 exts까지 넣으면 된다.)
+![alt text](Asset/image.png)
+
+3-2-3. 좌측에 시뮬레이션 버튼을 클릭 (이때, AUTOLOAD를 활성화하면 편하다.)
+
+3-3. 확장 프로그램 실행
+![alt text](Asset/image-1.png)
+이제 Isaac Examples 탭에 StrideSim_AnymalD 탭이 나오는 것을 확인할 수 있다.
+
+![alt text](Asset/image-2.png)
+버튼을 누르면 위와 같은 장면을 볼수 있고, anymalD를 부르는 것부터해서 학습 및 병렬 실행도 가능하다.
 
 ## 코드 포맷팅
 
diff --git a/exts/StrideSim/StrideSim/anymal_articulation.py b/exts/StrideSim/StrideSim/anymal_articulation.py
index 2c3ee9f..e9b9dc1 100644
--- a/exts/StrideSim/StrideSim/anymal_articulation.py
+++ b/exts/StrideSim/StrideSim/anymal_articulation.py
@@ -128,12 +128,12 @@ def _compute_observation(self, command):
         R_IB = quat_to_rot_matrix(q_IB)
         R_BI = R_IB.transpose()
 
-        print("lin_vel_I: ", lin_vel_I)
-        print("ang_vel_I: ", ang_vel_I)
-        print("pos_IB: ", pos_IB)
-        print("q_IB: ", q_IB)
-        print("R_IB: ", R_IB)
-        print("R_BI: ", R_BI)
+        # print("lin_vel_I: ", lin_vel_I)
+        # print("ang_vel_I: ", ang_vel_I)
+        # print("pos_IB: ", pos_IB)
+        # print("q_IB: ", q_IB)
+        # print("R_IB: ", R_IB)
+        # print("R_BI: ", R_BI)
 
         lin_vel_b = np.matmul(R_BI, lin_vel_I)
         ang_vel_b = np.matmul(R_BI, ang_vel_I)
@@ -200,7 +200,7 @@ def advance(self, dt, command):
 
         action = ArticulationAction(joint_positions=self._default_joint_pos + (self.action * self._action_scale))
 
-        print("network action: ", self.action)
+        # print("network action: ", self.action)
 
         self.robot.apply_action(action)
 
@@ -213,7 +213,7 @@ def initialize(self, physics_sim_view=None) -> None:
         self.robot.initialize(physics_sim_view=physics_sim_view)
         self.robot.get_articulation_controller().set_effort_modes("force")
         self.robot.get_articulation_controller().switch_control_mode("position")
-        self.robot._articulation_view.set_gains(np.zeros(12) + 200, np.zeros(12) + 5)
+        self.robot._articulation_view.set_gains(np.zeros(12) + 60, np.zeros(12) + 4)
 
     def post_reset(self) -> None:
         """
diff --git a/exts/StrideSim/StrideSim/base_sample/base_sample_extension.py b/exts/StrideSim/StrideSim/base_sample/base_sample_extension.py
index 6dc2d41..71b3587 100644
--- a/exts/StrideSim/StrideSim/base_sample/base_sample_extension.py
+++ b/exts/StrideSim/StrideSim/base_sample/base_sample_extension.py
@@ -98,6 +98,9 @@ def _build_ui(
         self._window = omni.ui.Window(
             name, width=window_width, height=0, visible=keep_window_open, dockPreference=ui.DockPreference.LEFT_BOTTOM
         )
+
+        self._window.deferred_dock_in("Property", ui.DockPolicy.CURRENT_WINDOW_IS_ACTIVE)
+
         with self._window.frame:
             self._main_stack = ui.VStack(spacing=5, height=0)
             with self._main_stack:
@@ -161,7 +164,7 @@ def _build_ui(
                         ui.Label("Task Name:", width=ui.Fraction(0.3))
                         self._rl_task_name_field = ui.StringField(height=0, width=ui.Fraction(0.7))
                         self._rl_task_name_field.model.set_value("Template-Isaac-Velocity-Rough-Anymal-D-v0")
-                        ui.Label("window popup:", width=ui.Fraction(0.3))
+                        ui.Label("Window popup:", width=ui.Fraction(0.3))
 
                         self._headless_dropdown = ui.ComboBox(0, "on", "off")
 
diff --git a/exts/StrideSim/StrideSim/network/policy.pt b/exts/StrideSim/StrideSim/network/policy.pt
index 95fe96d..35ba3f7 100644
--- a/exts/StrideSim/StrideSim/network/policy.pt
+++ b/exts/StrideSim/StrideSim/network/policy.pt
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8ba0f7431276772638e54d7d26632f7635fd5e7d42528dcb71674b4fa562c1d8
+oid sha256:3a300c0fe3db4548a3fe9e65ee0a20c67523c16f67b4fc97df208fe35854cd5e
 size 1158800