diff --git a/README.md b/README.md
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--- a/README.md
+++ b/README.md
@@ -4,6 +4,23 @@
 
 This workspace contains five simulations of two robots, the "simple robot" and the KUKA robot, following predefined trajectories. The packages are named according to the degrees of freedom (DoF) required by the "simple robot" to perform each motion: one simulation for 1 DoF, two for 2 DoF, and two for 3 DoF. Each movement can be executed with one of two velocity profiles—constant or trapezoidal.
 
+## Setup for the Kuka robots
+
+Quick guide for setting up the Kuka FRI with Ubuntu and ros2.
+
+Instructions for installing and using the repo are described below in the README. 
+
+Additionally for inverse kinematics
+
+1. Follow Installation instructions: 
+```
+https://github.com/NxRLab/ModernRobotics/tree/master/packages/Python
+```
+2. Run
+```
+pip install networkx==2.4 urdfpy mr-urdf-loader
+```
+
 ## Getting started
 
 ***Required setup : Ubuntu 22.04 LTS***
@@ -18,7 +35,6 @@ This workspace contains five simulations of two robots, the "simple robot" and t
     ```shell
     sudo apt install python3-colcon-common-extensions
      ```
-
 4. Pull relevant packages, install dependencies, compile, and source the workspace by using:
     ```shell
     git clone https://gitlab.kit.edu/uquzq/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems.git
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