diff --git a/README.md b/README.md
index eb5ba95..dec44e8 100644
--- a/README.md
+++ b/README.md
@@ -18,7 +18,6 @@ Before converting urdf to xml, some parts of urdf file need to be edited. Take "
meshdir="../meshes/"
balanceinertia="true"
discardvisual="false" />
-
```
@@ -43,16 +42,49 @@ MuJoCo provides an executable file for converting urdf to XML. This file is unde
## Edit xml file
After converting the urdf to xml, some parts of xml file need to be edited.
-1. Add ground and light source:
+1. Set environment
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+Add the following line after " size njmax="500" nconmax="100" "
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+```
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+```
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+2. Add ground and light source:
Add these line after "worldbody" tag:
```
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```
-2. Remove the visibility of the collision parts:
+3. Remove the visibility of the collision parts:
In the model, some parts are used as collision detection. For these parts we do not want them to show in the simulation. To make them invisible, we need to edit the rgba value.