diff --git a/Dockerfile b/Dockerfile
index 2071bf7..bb1b4c3 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -17,6 +17,7 @@ RUN apt-get update && apt-get install -y \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
+# Install ROS2 plugins
 RUN apt-get install -y \
     ros-foxy-ros2bag \
     ros-foxy-rosbag2-converter-default-plugins \
@@ -26,8 +27,7 @@ RUN mkdir -p /bag_files
 
 # Install python packages
 RUN pip3 install --upgrade pip
-RUN pip3 install numpy matplotlib scipy scikit-learn
-RUN pip3 install h5py torchvision==0.16.2 torch==2.1.2+cpu -f https://download.pytorch.org/whl/torch_stable.html
+RUN pip3 install numpy
 RUN rm -rf /root/.cache/pip
 
 # Clone the ros2-vicon-receiver package
diff --git a/README.md b/README.md
index ffe13f2..7297070 100644
--- a/README.md
+++ b/README.md
@@ -11,6 +11,7 @@ This Docker image is designed to provide a pre-configured environment for roboti
 ## Features
 
 - ROS2 Foxy desktop installation
+  - Python 3.8 (installed with ROS2 docker image)
 - Vicon SDK and necessary dependencies
 - Pre-configured for integration between ROS2 and Vicon systems
 - Suitable for robotics research and development involving motion capture
@@ -69,6 +70,7 @@ To find more details on how to use Docker, please refer Docker's official docume
   |  ------------  | ------------ | ----------- |
   |  `-i`          |              | keeps `STDIN` open even if not attached, allowing for interactive use  |
   |  `-t`          |              | allocates a pseudo-TTY, which provides an interactive shell in the container |
+  | `-v`           | `<host_path>:<container_path>` | Mount the host volume to container |
   | `--rm`         |              | automatically removes the container when it exits. It's useful for creating temporary containers that clean up after themselves |
   | `--entrypoint` | `bash`       | overrides the default entrypoint of the container with bash. It means that instead of running whatever command was specified as the default in the `Dockerfile`, the container will start a bash shell. |
   |                | `<name>` | name of the Docker image to use for creating the container.
@@ -160,44 +162,62 @@ docker run -it --rm <name> ros2 launch vicon_receiver mock_client.launch.py
 ```
 
 
-#### Ros2bag
+### Record using Ros2bag
 
 More documentation can be found [here](https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.html).
 
-The docker image includes the directory `/bag_files` for users to save the file. To use directory as your working directory for `ros2bag`, you will need to use two terminals. 
+#### Save in the host folder
+
+Using the docker `-v` flag which mounts the host directory, data can be directly saved in host file system.
 
-In the first one, create a container
 ```zsh
-docker run -it --rm <name> 
-```
-and when you want to start the record, run
-```bash
-ros2 bag record -o bag_files/<record_name> /topic1 /topic2 /topic3
+docker run -it --rm \
+  -v <host_directory_path>:/bag_files \
+  <name> \
+  ros2 bag record -o /bag_files/<record_name> /topic1 /topic2 /topic3
 ```
-where `-o` tag means output file directory.
 
-To finish the recording, press `control+c` directly.
-This will stop the recording and save the data in the folder `<record_name>` directly under the `bag_files` directory.
+#### Save in the container folder
 
-To move the recording outside of the container, run the following command in the second terminal
-```zsh
-docker cp <container_id>:/bag_files/<record_name> /path/to/your/local/directory
-```
-and you are done!
+<details>
+  <summary>Click me for more detail.</summary>
 
-To move the recording `<record_name>` from your local end into the container, run
-```zsh
-docker cp /path/to/your/local/directory/<record_name> <container_id>:/bag_files/
-```
+  The docker image includes the directory `/bag_files` for users to save the file. To use directory as your working directory for `ros2bag`, you will need to use two terminals. 
 
-To replay the recording `<record_name>` in the container, run
-```bash
-ros2 bag play bag_files/<record_name>
-```
+  In the first one, create a container
+  ```zsh
+  docker run -it --rm <name> 
+  ```
+  and when you want to start the record, run
+  ```bash
+  ros2 bag record -o bag_files/<record_name> /topic1 /topic2 /topic3
+  ```
+  where `-o` tag means output file directory.
+
+  To finish the recording, press `control+c` directly.
+  This will stop the recording and save the data in the folder `<record_name>` directly under the `bag_files` directory.
+
+  To move the recording outside of the container, run the following command in the second terminal
+  ```zsh
+  docker cp <container_id>:/bag_files/<record_name> <host_directory_path>
+  ```
+  and you are done!
+
+  To move the recording `<record_name>` from your local end into the container, run
+  ```zsh
+  docker cp <host_directory_path>/<record_name> <container_id>:/bag_files/
+  ```
+
+  To replay the recording `<record_name>` in the container, run
+  ```bash
+  ros2 bag play bag_files/<record_name>
+  ```
+
+  > When you use `ros2bag`, make sure you download the saved `bag_files` before exiting or removing the docker container.
 
-> When you use `ros2bag`, make sure you download the saved `bag_files` before exiting or removing the docker container.
+</details>
 
-#### Ros2 Tips
+### Other Ros2 Tips
 
 More commands are available in official ROS2 documentation. Here, I'm providing few that will be useful
 to debug the `docker` container.