You cannot run WPILib/RobotPy on a PC, as the binaries are only compiled for vxWorks. If you want to run something similar to WPILib on a PC for testing purposes, check out
fake-wpilib. It has a README file that talks about how to use it.
The easiest way to run RobotPy on a cRio is to download the binaries at
FIRSTForge, and run the installer script to copy the appropriate files to the cRio. There is a README.txt distributed that you may find useful.