diff --git a/.gitignore b/.gitignore
index a978799..0199c7e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,6 +6,7 @@ build/
 venv
 .venv
 .claude
+__pycache__
 
-
+*.egg-info
 **.FCBak
\ No newline at end of file
diff --git a/cobot/cli.py b/cobot/cli.py
index 291bfa5..165cab9 100644
--- a/cobot/cli.py
+++ b/cobot/cli.py
@@ -2,6 +2,8 @@ import argparse
 import importlib
 import sys
 
+from cobot.commands import docker_setup as cmd_docker_setup
+from cobot.commands import doc_setup as cmd_doc_setup
 from cobot.commands import setup as cmd_setup
 
 
@@ -13,7 +15,6 @@ def main():
     subparsers = parser.add_subparsers(dest="command", metavar="<command>")
     subparsers.required = True
 
-    # Регистрируем подкоманды — каждый модуль в cobot/commands/ описывает свою
     _register_commands(subparsers)
 
     args = parser.parse_args()
@@ -22,3 +23,5 @@ def main():
 
 def _register_commands(subparsers):
     cmd_setup.register(subparsers)
+    cmd_docker_setup.register(subparsers)
+    cmd_doc_setup.register(subparsers)
diff --git a/cobot/commands/doc_setup.py b/cobot/commands/doc_setup.py
new file mode 100644
index 0000000..6aa1db2
--- /dev/null
+++ b/cobot/commands/doc_setup.py
@@ -0,0 +1,195 @@
+from __future__ import annotations
+
+import argparse
+import os
+import re
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+from typing import List, Optional
+
+from rich.console import Console
+from rich.progress import BarColumn, Progress, SpinnerColumn, TaskProgressColumn, TextColumn
+from textual.app import App
+
+from cobot.tui import SCREEN_CSS, InputScreen
+
+_console = Console()
+
+_PROJECT_DIR = Path(__file__).parent.parent.parent
+_DOC_DIR = _PROJECT_DIR / "doc" / "lwc-doc"
+_IMAGE_NAME = "lwc-docs"
+_CONTAINER_NAME = "lwc-docs"
+_DEFAULT_PORT = "8000"
+
+
+
+class _Wizard(App[Optional[str]]):
+    CSS = SCREEN_CSS
+
+    def on_mount(self) -> None:
+        self.push_screen(
+            InputScreen("Step 1 of 1", "Port to serve documentation on:", _DEFAULT_PORT),
+            self._got_port,
+        )
+
+    def _got_port(self, v: Optional[str]) -> None:
+        if v is None:
+            self.exit(None)
+            return
+        port = v.strip() or _DEFAULT_PORT
+        if not port.isdigit():
+            self.exit(_DEFAULT_PORT)
+        else:
+            self.exit(port)
+
+
+
+def _docker(*args: str, capture: bool = False) -> subprocess.CompletedProcess:
+    return subprocess.run(
+        ["docker", *args],
+        capture_output=capture,
+        text=True,
+    )
+
+
+def _is_running() -> bool:
+    result = _docker(
+        "ps", "--filter", f"name={_CONTAINER_NAME}", "--format", "{{.Names}}",
+        capture=True,
+    )
+    return _CONTAINER_NAME in result.stdout
+
+
+def _image_exists() -> bool:
+    result = _docker("images", "-q", _IMAGE_NAME, capture=True)
+    return bool(result.stdout.strip())
+
+
+def _build_docs_image() -> bool:
+    _console.print("[dim]Installing MkDocs plugins into the image (this runs once)...[/dim]")
+    env = {**os.environ, "DOCKER_BUILDKIT": "0"}
+    proc = subprocess.Popen(
+        ["docker", "build", "-t", _IMAGE_NAME, str(_DOC_DIR)],
+        stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+        text=True, env=env,
+    )
+
+    captured: List[str] = []
+
+    with Progress(
+        SpinnerColumn(),
+        TextColumn("  [bold cyan]lwc-docs[/bold cyan]"),
+        BarColumn(bar_width=32),
+        TaskProgressColumn(),
+        console=_console,
+        transient=False,
+    ) as prog:
+        task = prog.add_task("", total=100)
+        total = 1
+        for line in proc.stdout:
+            captured.append(line)
+            m = re.match(r"Step (\d+)/(\d+) :", line)
+            if m:
+                step, total = int(m.group(1)), int(m.group(2))
+                prog.update(task, completed=step / total * 100)
+        prog.update(task, completed=100)
+
+    proc.wait()
+    if proc.returncode != 0:
+        _console.print("\n[red]Image build failed:[/red]")
+        _console.print("".join(captured), highlight=False)
+        return False
+    return True
+
+
+
+def _cmd_up() -> None:
+    if _is_running():
+        _console.print(f"[green]Docs are already running at:[/green] http://localhost:{_DEFAULT_PORT}")
+        _console.print("  Stop with: [bold]cobot doc-setup down[/bold]")
+        return
+
+    if not _DOC_DIR.exists():
+        _console.print(f"[red]Doc directory not found:[/red] {_DOC_DIR}")
+        sys.exit(1)
+
+    port = _Wizard().run()
+    if port is None:
+        return
+
+    _console.print()
+
+    if not _image_exists():
+        _console.print("[bold]Building documentation image...[/bold]")
+        if not _build_docs_image():
+            sys.exit(1)
+        _console.print()
+    else:
+        _console.print("[dim]Documentation image already built, skipping...[/dim]\n")
+
+    _console.print("[bold]Starting MkDocs server...[/bold]")
+    _console.print(f"[dim]Mounting {_DOC_DIR} into container on port {port}...[/dim]")
+
+    result = _docker(
+        "run", "-d",
+        "--name", _CONTAINER_NAME,
+        "--rm",
+        "-p", f"{port}:8000",
+        "-v", f"{_DOC_DIR}:/docs",
+        _IMAGE_NAME,
+        "serve", "--dev-addr=0.0.0.0:8000",
+    )
+    if result.returncode != 0:
+        _console.print("[red]Failed to start container.[/red]")
+        sys.exit(1)
+
+    _console.print(f"\n[green]Docs running at:[/green] http://localhost:{port}")
+    _console.print("  Edit files in [bold]doc/lwc-doc/docs/[/bold] — the site reloads automatically.")
+    _console.print("  Stop with: [bold]cobot doc-setup down[/bold]")
+
+
+def _cmd_down() -> None:
+    if not _is_running():
+        _console.print("[yellow]Docs container is not running.[/yellow]")
+        return
+
+    _console.print("[bold]Stopping documentation server...[/bold]")
+    _docker("stop", _CONTAINER_NAME)
+    _console.print("[green]Done.[/green] Container removed.")
+
+
+
+def _cmd_rebuild() -> None:
+    _cmd_down()
+    result = _docker("rmi", "-f", _IMAGE_NAME, capture=True)
+    if result.returncode != 0:
+        _console.print("[yellow]No image to remove, building fresh.[/yellow]")
+    _cmd_up()
+
+
+def register(subparsers: argparse._SubParsersAction) -> None:
+    p = subparsers.add_parser("doc-setup", help="Deploy or stop the documentation server")
+    p.add_argument(
+        "action",
+        nargs="?",
+        choices=["up", "down", "rebuild"],
+        default="up",
+        help="up — start (default), down — stop, rebuild — rebuild image and restart",
+    )
+    p.set_defaults(func=run)
+
+
+def run(args: argparse.Namespace) -> None:
+    if not shutil.which("docker"):
+        _console.print("[red]Error:[/red] Docker is not installed or not on PATH.")
+        sys.exit(1)
+
+    action = getattr(args, "action", "up")
+    if action == "down":
+        _cmd_down()
+    elif action == "rebuild":
+        _cmd_rebuild()
+    else:
+        _cmd_up()
diff --git a/cobot/commands/docker_setup.py b/cobot/commands/docker_setup.py
new file mode 100644
index 0000000..1f6c77b
--- /dev/null
+++ b/cobot/commands/docker_setup.py
@@ -0,0 +1,330 @@
+from __future__ import annotations
+
+import argparse
+import os
+import re
+import shutil
+import subprocess
+import sys
+from dataclasses import dataclass
+from pathlib import Path
+from typing import List, Optional
+
+from rich.console import Console
+from rich.progress import BarColumn, Progress, SpinnerColumn, TaskProgressColumn, TextColumn
+from textual.app import App
+
+from cobot.tui import SCREEN_CSS, InputScreen, PickScreen
+
+_console = Console()
+
+_PROJECT_DIR = Path(__file__).parent.parent.parent
+_DOCKER_DIR = _PROJECT_DIR / "docker"
+_DEFAULT_HUB_REPO = "evilfisru/lwc"
+_DEFAULT_PREFIX = "lwc-local"
+
+_CONTROLLER_CHAIN = ["ros-core", "ros-base", "ros-iiwa7"]
+_WEBOTS_CHAIN = ["ros-core", "ros-base", "ros-iiwa7-webots"]
+
+_IMAGE_PARENT: dict[str, str | None] = {
+    "ros-core": None,
+    "ros-base": "ros-core",
+    "ros-iiwa7": "ros-base",
+    "ros-iiwa7-webots": "ros-base",
+}
+
+# Images that COPY from src/ — need project root as build context.
+# Others use their Dockerfile's own directory.
+_NEEDS_PROJECT_CTX = {"ros-iiwa7", "ros-iiwa7-webots"}
+
+
+@dataclass
+class _Config:
+    ros_version: str
+    variant: str      # "controller" | "webots"
+    source: str       # "build" | "pull"
+    build_type: str   # "release" | "dev"
+    image_prefix: str
+    hub_repo: str
+
+
+class _Wizard(App[Optional[_Config]]):
+    CSS = SCREEN_CSS
+
+    def __init__(self, versions: List[str], default_version: str = "jazzy"):
+        super().__init__()
+        self.versions = versions
+        self.default_version = default_version
+        self._state: dict = {}
+
+    def on_mount(self) -> None:
+        self._ask_version()
+
+    # ── step helpers ──────────────────────────────────────────────────────────
+
+    def _ask_version(self) -> None:
+        self.push_screen(
+            PickScreen("Step 1 of 5", "Select ROS version:", self.versions, self.default_version),
+            self._got_version,
+        )
+
+    def _got_version(self, v: Optional[str]) -> None:
+        if v is None:
+            self.exit(None)
+            return
+        self._state["ros_version"] = v
+        self.push_screen(
+            PickScreen("Step 2 of 5", "Source:", ["Pull from Docker Hub", "Build locally"], "Pull from Docker Hub"),
+            self._got_source,
+        )
+
+    def _got_source(self, v: Optional[str]) -> None:
+        if v is None:
+            self.exit(None)
+            return
+        self._state["source"] = "build" if v == "Build locally" else "pull"
+        self.push_screen(
+            PickScreen("Step 3 of 5", "What to install:", ["Controller only", "Controller and Webots"], "Controller only"),
+            self._got_variant,
+        )
+
+    def _got_variant(self, v: Optional[str]) -> None:
+        if v is None:
+            self.exit(None)
+            return
+        self._state["variant"] = "webots" if v == "Controller and Webots" else "controller"
+        self.push_screen(
+            PickScreen("Step 4 of 5", "Build type:", ["release", "dev"], "release"),
+            self._got_build_type,
+        )
+
+    def _got_build_type(self, v: Optional[str]) -> None:
+        if v is None:
+            self.exit(None)
+            return
+        self._state["build_type"] = v or "release"
+        if self._state["source"] == "pull":
+            self.push_screen(
+                InputScreen("Step 5 of 5", "Docker Hub repository:", _DEFAULT_HUB_REPO),
+                self._got_hub_repo,
+            )
+        else:
+            self.push_screen(
+                InputScreen("Step 5 of 5", "Image prefix:", _DEFAULT_PREFIX),
+                self._got_prefix,
+            )
+
+    def _got_hub_repo(self, v: Optional[str]) -> None:
+        if v is None:
+            self.exit(None)
+            return
+        self._state["hub_repo"] = v
+        self._finish()
+
+    def _got_prefix(self, v: Optional[str]) -> None:
+        if v is None:
+            self.exit(None)
+            return
+        self._state["image_prefix"] = v
+        self._finish()
+
+    def _finish(self) -> None:
+        s = self._state
+        self.exit(_Config(
+            ros_version=s["ros_version"],
+            variant=s["variant"],
+            source=s["source"],
+            build_type=s["build_type"],
+            image_prefix=s.get("image_prefix", _DEFAULT_PREFIX),
+            hub_repo=s.get("hub_repo", _DEFAULT_HUB_REPO),
+        ))
+
+
+def _discover_versions() -> List[str]:
+    if not _DOCKER_DIR.exists():
+        return ["jazzy"]
+    dirs = sorted(d.name for d in _DOCKER_DIR.iterdir() if d.is_dir())
+    if "jazzy" in dirs:
+        dirs = ["jazzy"] + [d for d in dirs if d != "jazzy"]
+    return dirs or ["jazzy"]
+
+
+def _build_image(
+    name: str, tag: str, dockerfile: Path, ctx: Path,
+    parent_tag: Optional[str] = None,
+    build_type: str = "release",
+) -> bool:
+    env = {**os.environ, "DOCKER_BUILDKIT": "0"}
+    cmd = [
+        "docker", "build",
+        "-t", tag,
+        "-f", str(dockerfile),
+        "--build-arg", f"BUILD_TYPE={build_type}",
+    ]
+    if parent_tag:
+        cmd += ["--build-arg", f"IMAGE={parent_tag}"]
+    cmd.append(str(ctx))
+    proc = subprocess.Popen(
+        cmd,
+        stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+        text=True, env=env,
+    )
+
+    captured: List[str] = []
+
+    with Progress(
+        SpinnerColumn(),
+        TextColumn(f"  [bold cyan]{name:<24}[/bold cyan]"),
+        BarColumn(bar_width=32),
+        TaskProgressColumn(),
+        console=_console,
+        transient=False,
+    ) as prog:
+        task = prog.add_task("", total=100)
+        total = 1
+        for line in proc.stdout:
+            captured.append(line)
+            m = re.match(r"Step (\d+)/(\d+) :", line)
+            if m:
+                step, total = int(m.group(1)), int(m.group(2))
+                prog.update(task, completed=step / total * 100)
+        prog.update(task, completed=100)
+
+    proc.wait()
+    if proc.returncode != 0:
+        _console.print(f"\n[red]Build failed:[/red] {tag}\n")
+        _console.print("".join(captured), highlight=False)
+        return False
+    return True
+
+
+def _parse_docker_size(s: str) -> float:
+    s = s.strip()
+    for suffix, mult in [("GB", 1e9), ("MB", 1e6), ("kB", 1e3), ("B", 1.0)]:
+        if s.endswith(suffix):
+            try:
+                return float(s[: -len(suffix)]) * mult
+            except ValueError:
+                return 0.0
+    try:
+        return float(s)
+    except ValueError:
+        return 0.0
+
+
+_RE_PULLING = re.compile(r"^([a-f0-9]+): Pulling fs layer")
+_RE_DONE = re.compile(r"^([a-f0-9]+): (?:Pull complete|Already exists|Layer already exists)")
+_RE_DL = re.compile(r"^([a-f0-9]+): Downloading(?:\s+\[.*?\])?\s+([\d.]+\s*\w+)/([\d.]+\s*\w+)")
+
+
+def _pull_image(name: str, tag: str) -> bool:
+    proc = subprocess.Popen(
+        ["docker", "pull", tag],
+        stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+        text=True,
+    )
+
+    captured: List[str] = []
+    layers_pulling: set[str] = set()
+    layers_done: set[str] = set()
+    layers_total: dict[str, float] = {}
+    layers_current: dict[str, float] = {}
+    has_bytes = False
+
+    with Progress(
+        SpinnerColumn(),
+        TextColumn(f"  [bold cyan]{name:<24}[/bold cyan]"),
+        BarColumn(bar_width=32),
+        TaskProgressColumn(),
+        console=_console,
+        transient=False,
+    ) as prog:
+        task = prog.add_task("", total=100)
+
+        for line in proc.stdout:
+            captured.append(line)
+            line = line.strip()
+
+            if m := _RE_PULLING.match(line):
+                layers_pulling.add(m.group(1))
+
+            elif m := _RE_DL.match(line):
+                lid, cur, tot = m.group(1), _parse_docker_size(m.group(2)), _parse_docker_size(m.group(3))
+                if tot > 0:
+                    has_bytes = True
+                    layers_current[lid] = cur
+                    layers_total[lid] = tot
+
+            elif m := _RE_DONE.match(line):
+                lid = m.group(1)
+                layers_done.add(lid)
+                if lid in layers_total:
+                    layers_current[lid] = layers_total[lid]
+
+            if has_bytes and layers_total:
+                total_b = sum(layers_total.values())
+                done_b = sum(layers_current.get(lid, 0.0) for lid in layers_total)
+                prog.update(task, completed=done_b / total_b * 100)
+            elif layers_pulling:
+                prog.update(task, completed=len(layers_done) / len(layers_pulling) * 100)
+
+        prog.update(task, completed=100)
+
+    proc.wait()
+    if proc.returncode != 0:
+        _console.print(f"\n[red]Pull failed:[/red] {tag}\n")
+        _console.print("".join(captured), highlight=False)
+        return False
+    return True
+
+
+def _execute(cfg: _Config) -> None:
+    chain = _WEBOTS_CHAIN if cfg.variant == "webots" else _CONTROLLER_CHAIN
+    _console.print()
+
+    if cfg.source == "build":
+        _console.print(
+            f"[bold]Building {len(chain)} image(s)  •  ROS {cfg.ros_version}  •  {cfg.build_type}[/bold]\n"
+        )
+        for name in chain:
+            tag = f"{cfg.image_prefix}:{name}-{cfg.ros_version}"
+            dockerfile = _DOCKER_DIR / cfg.ros_version / name / "Dockerfile"
+            if not dockerfile.exists():
+                _console.print(f"[red]Dockerfile not found:[/red] {dockerfile}")
+                sys.exit(1)
+            ctx = _PROJECT_DIR if name in _NEEDS_PROJECT_CTX else dockerfile.parent
+            parent_name = _IMAGE_PARENT.get(name)
+            parent_tag = f"{cfg.image_prefix}:{parent_name}-{cfg.ros_version}" if parent_name else None
+            if not _build_image(name, tag, dockerfile, ctx, parent_tag, cfg.build_type):
+                sys.exit(1)
+        _console.print(f"\n[green]Done.[/green] Images: [bold]{cfg.image_prefix}:{{name}}-{cfg.ros_version}[/bold].")
+
+    else:
+        short = "webots" if cfg.variant == "webots" else "iiwa"
+        suffix = "-dev" if cfg.build_type == "dev" else ""
+        image_tag = f"{short}-{cfg.ros_version}{suffix}"
+        full_ref = f"{cfg.hub_repo}:{image_tag}"
+        _console.print(f"[bold]Pulling from {cfg.hub_repo}  •  ROS {cfg.ros_version}  •  {cfg.build_type}[/bold]\n")
+        if not _pull_image(short, full_ref):
+            sys.exit(1)
+        _console.print(f"\n[green]Done.[/green] Image ready: [bold]{full_ref}[/bold].")
+
+
+def register(subparsers: argparse._SubParsersAction) -> None:
+    p = subparsers.add_parser("docker-setup", help="Set up Docker images for KUKA iiwa7")
+    p.set_defaults(func=run)
+
+
+def run(args: argparse.Namespace) -> None:
+    if not shutil.which("docker"):
+        _console.print("[red]Error:[/red] Docker is not installed or not on PATH.")
+        sys.exit(1)
+
+    versions = _discover_versions()
+    default = "jazzy" if "jazzy" in versions else versions[0]
+    cfg = _Wizard(versions=versions, default_version=default).run()
+
+    if cfg is None:
+        return
+
+    _execute(cfg)
diff --git a/cobot/commands/setup.py b/cobot/commands/setup.py
index a9dee40..65b8010 100644
--- a/cobot/commands/setup.py
+++ b/cobot/commands/setup.py
@@ -1,5 +1,8 @@
 import argparse
 
+from cobot.commands.doc_setup import run as _doc_setup
+from cobot.commands.docker_setup import run as _docker_setup
+
 
 def register(subparsers):
     p = subparsers.add_parser("setup", help="First-time project setup")
@@ -7,4 +10,5 @@ def register(subparsers):
 
 
 def run(args: argparse.Namespace) -> None:
-    print("cobot setup — TODO: implement setup logic here")
+    _doc_setup(args)
+    _docker_setup(args)
diff --git a/cobot/tui.py b/cobot/tui.py
new file mode 100644
index 0000000..87c77f5
--- /dev/null
+++ b/cobot/tui.py
@@ -0,0 +1,99 @@
+from __future__ import annotations
+
+from typing import List, Optional
+
+from textual import on
+from textual.app import ComposeResult
+from textual.binding import Binding
+from textual.screen import Screen
+from textual.widgets import Footer, Input, RadioButton, RadioSet, Static
+
+SCREEN_CSS = """
+Screen {
+    padding: 2 4;
+}
+#step {
+    color: $text-muted;
+    text-style: dim;
+}
+#question {
+    text-style: bold;
+    color: $accent;
+    margin-top: 1;
+    margin-bottom: 1;
+}
+RadioSet {
+    height: auto;
+    border: none;
+    padding: 0;
+    margin-bottom: 1;
+}
+Input {
+    margin-bottom: 1;
+}
+"""
+
+
+class PickScreen(Screen[Optional[str]]):
+    BINDINGS = [
+        Binding("enter", "submit", "Confirm", priority=True),
+        Binding("escape", "abort", "Cancel"),
+    ]
+
+    def __init__(self, step: str, question: str, options: List[str], default: str):
+        super().__init__()
+        self._step = step
+        self._question = question
+        self._options = options
+        self._default = default
+
+    def compose(self) -> ComposeResult:
+        yield Static(self._step, id="step")
+        yield Static(self._question, id="question")
+        with RadioSet(id="choices"):
+            for opt in self._options:
+                yield RadioButton(opt, value=(opt == self._default))
+        yield Footer()
+
+    def on_mount(self) -> None:
+        self.query_one(RadioSet).focus()
+
+    def action_submit(self) -> None:
+        btn = self.query_one("#choices", RadioSet).pressed_button
+        self.dismiss(str(btn.label) if btn else self._default)
+
+    def action_abort(self) -> None:
+        self.app.exit(None)
+
+
+class InputScreen(Screen[Optional[str]]):
+    BINDINGS = [
+        Binding("enter", "submit", "Confirm", priority=True),
+        Binding("escape", "abort", "Cancel"),
+    ]
+
+    def __init__(self, step: str, question: str, default: str):
+        super().__init__()
+        self._step = step
+        self._question = question
+        self._default = default
+
+    def compose(self) -> ComposeResult:
+        yield Static(self._step, id="step")
+        yield Static(self._question, id="question")
+        yield Input(id="value", value=self._default)
+        yield Footer()
+
+    def on_mount(self) -> None:
+        self.query_one(Input).focus()
+
+    @on(Input.Submitted)
+    def _submitted(self, event: Input.Submitted) -> None:
+        self.dismiss(event.value.strip() or self._default)
+
+    def action_submit(self) -> None:
+        val = self.query_one(Input).value.strip()
+        self.dismiss(val or self._default)
+
+    def action_abort(self) -> None:
+        self.app.exit(None)
diff --git a/doc/build_docs.sh b/doc/build_docs.sh
index 9bd96e6..5eb1845 100755
--- a/doc/build_docs.sh
+++ b/doc/build_docs.sh
@@ -2,7 +2,7 @@
 
 # Configure the Docker image and the MkDocs directory
 DOCKER_IMAGE="squidfunk/mkdocs-material"
-MKDOCS_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/iiwa-ros-doc" && pwd)"
+MKDOCS_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/lwc-doc" && pwd)"
 
 # Define color codes for logging
 RED='\033[0;31m'
diff --git a/doc/lwc-doc/Dockerfile b/doc/lwc-doc/Dockerfile
new file mode 100644
index 0000000..dc88e30
--- /dev/null
+++ b/doc/lwc-doc/Dockerfile
@@ -0,0 +1,14 @@
+FROM squidfunk/mkdocs-material
+RUN apk add --no-cache \
+    cairo \
+    pango \
+    gdk-pixbuf \
+    libffi \
+    fontconfig \
+    ttf-dejavu \
+    gcc \
+    g++ \
+    musl-dev \
+    python3-dev \
+    && pip install mkdocs-with-pdf \
+    && apk del --no-cache gcc g++ musl-dev python3-dev
diff --git a/doc/lwc-doc/docs/assets/pdf_button.js b/doc/lwc-doc/docs/assets/pdf_button.js
new file mode 100644
index 0000000..b5be69d
--- /dev/null
+++ b/doc/lwc-doc/docs/assets/pdf_button.js
@@ -0,0 +1,28 @@
+document.addEventListener("DOMContentLoaded", function () {
+  const btn = document.createElement("a");
+  btn.href = "/pdf/document.pdf";
+  btn.download = "lwc-documentation.pdf";
+  btn.title = "Скачать всю документацию в PDF";
+  btn.style.cssText = [
+    "position: fixed",
+    "bottom: 24px",
+    "right: 24px",
+    "z-index: 9999",
+    "background: var(--md-primary-fg-color, #1976d2)",
+    "color: #fff",
+    "padding: 12px 18px",
+    "border-radius: 24px",
+    "text-decoration: none",
+    "font-weight: 600",
+    "font-size: 14px",
+    "box-shadow: 0 3px 10px rgba(0,0,0,0.25)",
+    "display: flex",
+    "align-items: center",
+    "gap: 8px",
+    "transition: opacity .2s",
+  ].join(";");
+  btn.innerHTML = "&#128196; Скачать PDF";
+  btn.onmouseenter = () => (btn.style.opacity = "0.85");
+  btn.onmouseleave = () => (btn.style.opacity = "1");
+  document.body.appendChild(btn);
+});
diff --git a/doc/iiwa-ros-doc/docs/index.md b/doc/lwc-doc/docs/index.md
similarity index 100%
rename from doc/iiwa-ros-doc/docs/index.md
rename to doc/lwc-doc/docs/index.md
diff --git a/doc/iiwa-ros-doc/mkdocs.yml b/doc/lwc-doc/mkdocs.yml
similarity index 54%
rename from doc/iiwa-ros-doc/mkdocs.yml
rename to doc/lwc-doc/mkdocs.yml
index cb3c9ab..7428260 100644
--- a/doc/iiwa-ros-doc/mkdocs.yml
+++ b/doc/lwc-doc/mkdocs.yml
@@ -1,4 +1,4 @@
-site_name: Документация НОЦ ПРиППТ
+site_name: Документация LWC
 site_description: Документация по использованию коллаборативного робота KUKA LBR iiwa 7 и его программированию в среде ROS 2.
 site_author: Даниил Грабарь
 
@@ -6,38 +6,49 @@ theme:
   name: material
   language: ru
   features:
-    - navigation.tabs           # вкладки сверху
-    - navigation.tabs.sticky    # вкладки остаются при скролле
-    - navigation.sections       # разделы в боковой панели
-    - navigation.expand         # раскрывать разделы автоматически
-    - navigation.top            # кнопка "наверх"
+    - navigation.tabs
+    - navigation.tabs.sticky
+    - navigation.sections
+    - navigation.expand
+    - navigation.top
     - search.highlight
 
+plugins:
+  - search
+  - with-pdf:
+      author: Даниил Грабарь
+      cover_title: Документация LWC
+      cover_subtitle: KUKA LBR iiwa7 ROS2 Control Framework
+      output_path: pdf/document.pdf
+
+extra_javascript:
+  - assets/pdf_button.js
+
 markdown_extensions:
   - admonition
   - pymdownx.highlight
   - pymdownx.superfences
 
 nav:
-  - Главная: index.md          # ← вкладка 1
+  - Главная: index.md
 
-  # - Обзор проекта:             # ← вкладка 2
+  # - Обзор проекта:
   #   - Введение: overview/intro.md
   #   - Архитектура: overview/architecture.md
   #   - Зависимости: overview/dependencies.md
 
-  # - Установка:                 # ← вкладка 3
+  # - Установка:
   #   - Требования: install/requirements.md
   #   - ROS2: install/ros2.md
   #   - KUKA FRI: install/fri.md
 
-  # - Разработка:                # ← вкладка 4
+  # - Разработка:
   #   - Структура пакетов: dev/packages.md
   #   - Камеры RealSense: dev/realsense.md
   #   - Управление KUKA: dev/kuka.md
   #   - Сборка: dev/build.md
 
-  # - API:                       # ← вкладка 5
+  # - API:
   #   - Обзор: api/overview.md
   #   - Топики: api/topics.md
-    # - Сервисы: api/services.md
\ No newline at end of file
+  #   - Сервисы: api/services.md
diff --git a/setup.py b/setup.py
index f55c8be..92a0a5c 100644
--- a/setup.py
+++ b/setup.py
@@ -6,6 +6,9 @@ setup(
     description="Lightweight Cobot — KUKA iiwa7 ROS2 Control Framework",
     packages=find_packages(),
     python_requires=">=3.11",
+    install_requires=[
+        "textual",
+    ],
     entry_points={
         "console_scripts": [
             "cobot=cobot.cli:main",