diff --git a/.DS_Store b/.DS_Store
index 4a11c63..3a66700 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/README.md b/README.md
index a7cbb5a..7dfce01 100644
--- a/README.md
+++ b/README.md
@@ -9,8 +9,8 @@ This repository provides an interface that connects OSC with ROS 2. It allows co
 
 ## Prerequisites
 
+Either:
 - **Operating System:** Ubuntu 22.04 recommended with ROS 2 installed
-or
 - **Docker:** Ensure Docker and Docker CLI are installed and running  
   - [Install for Windows](https://docs.docker.com/desktop/setup/install/windows-install/)  
   - [Install for Ubuntu](https://docs.docker.com/engine/install/ubuntu/)  
@@ -66,7 +66,29 @@ http://localhost:6080/vnc.html
 
 ---
 
-## Installation Instructions
+
+## Connecting to Simulation
+
+Launch the robot driver (replace `x` with correct IP):
+```bash
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=172.18.0.x
+```
+
+Use `hostname -i` inside each container to retrieve IPs.
+
+On the teach pendant or URSim, set the ROS 2 container’s IP in the External Control URCap.
+
+---
+
+## Check Connection
+
+You can test if data is flowing correctly with:
+```bash
+ros2 topic echo /joint_states
+```
+
+---
+## Installation Instructions for the Interface
 
 1. **Source ROS 2**
    ```bash
@@ -118,28 +140,6 @@ The script will guide you through the setup:
 
 ---
 
-## Connecting to Simulation
-
-Launch the robot driver (replace `x` with correct IP):
-```bash
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=172.18.0.x
-```
-
-Use `hostname -i` inside each container to retrieve IPs.
-
-On the teach pendant or URSim, set the ROS 2 container’s IP in the External Control URCap.
-
----
-
-## Check Connection
-
-You can test if data is flowing correctly with:
-```bash
-ros2 topic echo /joint_states
-```
-
----
-
 ## Example Usage
 
 An example patch in puredata is provided that allows the user to control a 6-DOF robot with sliders via OSC.
diff --git a/ROS2_humble/Dockerfile b/ROS2_humble/Dockerfile
new file mode 100644
index 0000000..1d32256
--- /dev/null
+++ b/ROS2_humble/Dockerfile
@@ -0,0 +1,5 @@
+FROM osrf/ros:humble-desktop-full
+
+RUN apt-get -y update
+RUN apt-get -y upgrade
+RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping
diff --git a/URSim/Dockerfile b/URSim/Dockerfile
new file mode 100644
index 0000000..c61d7ea
--- /dev/null
+++ b/URSim/Dockerfile
@@ -0,0 +1,4 @@
+FROM universalrobots/ursim_e-series:latest
+COPY externalcontrol-1.0.5.jar /urcaps/externalcontrol-1.0.5.jar
+
+EXPOSE 5900 6080 29999 30001-30004
diff --git a/URSim/externalcontrol-1.0.5.jar b/URSim/externalcontrol-1.0.5.jar
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index 0000000..f0f6f7b
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