diff --git a/README.md b/README.md
index 45d202d..9ada1d2 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,26 @@ documentation
 see [unitree-z1-docs](http://dev-z1.unitree.com)
 
 ## Build docker image
+```shell
 docker build . -t bytelogics:z1_controller
+```
 
 ## Run the docker instance
+For python connection:
+```shell
 docker run -ti --rm --network host bytelogics:z1_controller
+
+```
+
+For manual build within a docker:
+Make sure you are not in build folder but in the parent then run
+
+`docker run -ti --rm --network host bytelogics:z1_controller bash`
+`cmake .. -DCOMMUNICATION=ROS`
+`make`
+`./z1_ctrl`
+you can try with 
+`./z1_ctrl k` for keyboard
+
+Cmake command you can do catkin_make -DCOMMUNICATION=ROS 
+then you dont need to edit the cmake.txt file
diff --git a/config/config.xml b/config/config.xml
index 7becfdb..994efb8 100644
--- a/config/config.xml
+++ b/config/config.xml
@@ -1,11 +1,11 @@
 <configurartion>
     <!-- lower computer communication -->
-    <IP>192.168.123.110</IP>
+    <IP>10.0.0.250</IP>
     <Port>8881</Port>
 
     <collision>
-        <open>N</open> <!-- Y or N -->
-        <limitT>10.0</limitT> <!-- N*M -->
-        <load>0.0</load><!-- kg-->
+        <open>Y</open> <!-- Y or N -->
+        <limitT>20.0</limitT> <!-- N*M -->
+        <load>0.02</load><!-- kg-->
     </collision>
 </configurartion>