diff --git a/docs/setup.md b/docs/setup.md
index 176fbd6..9037772 100644
--- a/docs/setup.md
+++ b/docs/setup.md
@@ -77,20 +77,22 @@ sudo make hesai_install
 The first command for each service makes the corresponding docker image and the second command, copies the service file that runs those images into the appropriate locations of the system and enables them as autorun services. You can check for the success of this installation by checking the output of the `systemctl status service_name.service` command where the `service_name` is replaced with the name of the service you want to check. 
 
 ### Installing the GoPy 
-
+#### Local Installation
 Finally, we need to install the Go2Py Python library on a computer located on the same network as the robot (it could be the onboard computer but can also be any other PCs hooked up to the robot's network). To do so, simply go to the root directory of the Go2Py repository and run:
 ```bash
 pip install -e .
 ```
-To check the installation, run the interface example [here](../examples/00-robot-interface.ipynb) to make sure you can read the state of the robot. In addition to local installation, you can also the provided docker support. To do so, run `make docker_start` in the root directory of the repository:
+To check the installation, run the interface example [here](../examples/00-robot-interface.ipynb) to make sure you can read the state of the robot. 
+#### Using Docker
+In addition to local installation, you can use the provided docker support. To do so, run `make docker_start` in the root directory of the repository:
 ```bash
 cd ~/Go2Py
 make docker_start
 ```
 
-With this, a docker container with all the required dependencies will be launched and the Go2Py repository will be mounted into `/workspaces/Go2Py` and installed in editable mode. Since our docker support is based on the Nvida Isaac-ROS images, you can also use the Iasaac-ROS nodes within this environment.  
+With this, a docker container with all the required dependencies will be launched and the Go2Py repository will be mounted into `/workspaces/Go2Py` and installed in editable mode. Since our docker support is based on the Nvida Isaac-ROS images, you should be able to use the Iasaac-ROS packages within this environment.  
 
-**Note:** Our base docker image can be extended in a similar way to the Isaac-ROS images (explained [here](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_common/index.html)). Simply append the `CONFIG_IMAGE_KEY="ros2_humble.go2py"` [here](../scripts/.isaac_ros_common-config) with the key to your custom Dockerfile name (e.g. `CONFIG_IMAGE_KEY="ros2_humble.go2py.custom"` for `Dockerfile.custom`) and place your docker file under `docker` directory [here](../docker) and append its name with the key you used (e.g. `Dockerfile.custom`). Your custom Dockerfile should start with:
+Note that our docker image may be extended in a similar way to the Isaac-ROS images (as explained [here](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_common/index.html)). Simply append the `CONFIG_IMAGE_KEY="ros2_humble.go2py"` [here](../scripts/.isaac_ros_common-config) with the key to your custom Dockerfile name (e.g. `CONFIG_IMAGE_KEY="ros2_humble.go2py.custom"` for `Dockerfile.custom`) and place your docker file under `docker` directory [here](../docker) and append its name with the key you used (e.g. `Dockerfile.custom`). Your custom Dockerfile should start with:
 ```docker
 ARG BASE_IMAGE
 FROM ${BASE_IMAGE}