diff --git a/README.md b/README.md
index 0bfd3e1382d64e43c3adeb1127724219ace019e5..23cff5c0b1e38c06771b987fab0618d588dc5994 100644
--- a/README.md
+++ b/README.md
@@ -42,12 +42,21 @@ You can see the full explanation in my [blog post](https://erdalpekel.de/?p=55).
 
    ![Zone](assets/box.png?raw=true "Safetyzone")
 
-   Integrates safetyzones via the SafetyAwarePlanner. start-command: ... roslaunch panda_simulation simulation.launch ...
+   Integrates safetyzones via the SafetyAwarePlanner. 
+   start-command: 
+   ...
+   roslaunch panda_simulation simulation.launch
+   ...
+
    To see through the boxes one have to set the alpha of the planning an environment (see picture).
 
    #### _MoveIt!_ constraint-aware planning
 
-   An example of one can add constraints to the planning and simulate it. start-command: start-command: ... roslaunch panda_simulation simulation_constraint.launch ...
+   An example of one can add constraints to the planning and simulate it. start-command: 
+   start-command:
+   ...
+   roslaunch panda_simulation simulation_constraint.launch
+   ...
 
    This repository was extended with a ROS node that communicates with the _MoveIt!_ Planning Scene API. It makes sure that the motion planning pipeline avoids collision objects in the environment specified by the user in a separate directory (`~/.panda_simulation`) as _json_ files.