diff --git a/README.md b/README.md
index 3ccd71a16ca5408e0d00a6fb4b6ee242cc54238d..bf0bfabca317ddaab7e715c3bc4ffaec65ba8869 100644
--- a/README.md
+++ b/README.md
@@ -48,6 +48,10 @@ Implementation of a reactive walking controller for quadruped robots. Architectu
 
 * In `main_solo12_control.py`, you can change some of the parameters defined at the beginning of the `control_loop` function.
 
+* Set `envID` to 1 to load obstacles and stairs.
+
+* Set `use_flat_plane` to False to load a ground with lots of small bumps.
+
 * If you have a gamepad you can control the robot with two joysticks by turning `predefined_vel` to False in `main_solo12_control.py`. Velocity limits with the joystick are defined in `Joystick.py` by `self.VxScale` (maximul lateral velocity), `self.VyScale` (maximum forward velocity) and `self.vYawScale` (maximum yaw velocity).
 
 * If `predefined_vel = True` the robot follows the reference velocity pattern velID. Velocity patterns are defined in `Joystick.py`, you can modify them or add new ones. Each profile defines forward, lateral and yaw velocities that should be reached at the associated loop iterations (in `self.k_switch`). There is an automatic interpolation between milestones to have a smooth reference velocity command.
diff --git a/scripts/PyBulletSimulator.py b/scripts/PyBulletSimulator.py
index 4afa883b03a5011d6319d90820ed7ecee82b652d..ea1399987fd8daf6db5606f0d57b69063a654a5f 100644
--- a/scripts/PyBulletSimulator.py
+++ b/scripts/PyBulletSimulator.py
@@ -73,7 +73,7 @@ class pybullet_simulator:
         if envID == 1:
 
             # Add stairs with platform and bridge
-            self.stairsId = pyb.loadURDF("../../../../../git/paleziart/solopython/mpctsid/bauzil_stairs.urdf")  # ,
+            self.stairsId = pyb.loadURDF("bauzil_stairs.urdf")  # ,
             """basePosition=[-1.25, 3.5, -0.1],
                                  baseOrientation=pyb.getQuaternionFromEuler([0.0, 0.0, 3.1415]))"""
             pyb.changeDynamics(self.stairsId, -1, lateralFriction=1.0)