diff --git a/Dockerfile b/Dockerfile
index ded1564..07fab0a 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -14,7 +14,7 @@ RUN apt-get clean
 RUN apt-get update && apt-get upgrade --yes
 
 #RUN apt-get install --yes gz-garden
-RUN apt-get remove gz-garden
+RUN apt-get remove gz-garden mutter
 RUN apt-get install --yes ros-noetic-desktop gazebo11 libgazebo11 libgazebo11-dev
 
 #Install ROS
diff --git a/README.md b/README.md
index 7c1bf20..426e6bb 100644
--- a/README.md
+++ b/README.md
@@ -1,50 +1,3 @@
-# Ways of running
+New SDK
 
-There are two main ways of running this software.
-
-Most users are recomended to install [VirtualBox](https://www.virtualbox.org/), create a new
-VM, and use the supplied VDI as the disk image. You will likely want 
-to increase memory limits and CPU count above the default.
-
-Advanced users can also use the SDK as a docker image. It pairs well with 
-[distrobox](https://github.com/89luca89/distrobox) to better
-integrate it with their existing linux workflows.
-
-```bash
-distrobox create --image git.spirirobotics.com/spiri/spiri-sdk-desktop:master
-distrobox enter spiri-sdk-desktop-master
-
-cp -r /opt/spiri-sdk/user-home-skeleton/* ~/
-cd ~/Desktop/simulated-drone/
-./sim_drone.py launch
-```
-
-# Usage
-
-Each drone has it's own ros master, you can specify a ros master by adding a sys_id to your port
-
-To launch the drone, run the command `sim_drone.py start-group 2`. For more detailed information user 
-the `--help` command. You must run the command from inside a folder with a compliant dockerfile.
-
-If using the VM there should be one on your desktop, if not you can run `cp -r /opt/spiri-sdk/user-home-skeleton/ ~/`
-and all relevent development resources will be added to your home folder.
-
-```bash
-ROS_MASTER_URI=http://localhost:11311 rostopic list #Drone with sys_id 1
-ROS_MASTER_URI=http://localhost:11312 rostopic list #Drone with sys_id 2
-```
-
-# Building
-
-```bash
-#Note that because this is running in a container, the -o output flag must be relative to the current directory.
-# We mount the current working directory in the docker container as part of this script.
-./virtualize.sh build ./ -s 100gb  -o sdk.vdi
-```
-
-For testing the VM, I use the following
-
-```bash
-./virtualize.sh build ./ -s 100gb  -o sdk.qcow2
-qemu-system-x86_64 -display default,show-cursor=on -enable-kvm  -device virtio-gpu -m 4g -smp 4 -hda sdk.qcow2
-```
+toDo, usage instructions
diff --git a/skel/Desktop/simulated-drone/sim_drone.py b/skel/Desktop/simulated-drone/sim_drone.py
index 1968f72..ba77554 100755
--- a/skel/Desktop/simulated-drone/sim_drone.py
+++ b/skel/Desktop/simulated-drone/sim_drone.py
@@ -107,22 +107,44 @@ def wait_for_gazebo(timeout=60, interval=1):
     return False
 
 
+def wait_for_docker_on_port(port, timeout=60, interval=1):
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        try:
+            # Check if there's a working docker daemon listening at port
+            with modified_environ(DOCKER_HOST=f"tcp://localhost:{port}"):
+                sh.docker("version")
+        except sh.ErrorReturnCode:
+            # If the command fails, Gazebo might not be running yet
+            pass
+        logger.info(f"Docker port is not running. Retrying in {interval} seconds...")
+        time.sleep(interval)
+    logger.error("Timeout reached. Docker port is not running.")
+    return False
+
+
 @app.command()
 def start(sys_id: int = 1, extra_apps: List[pathlib.Path] = []):
     """Starts the simulated drone with a given sys_id,
     each drone must have it's own unique ID.
     """
+    if sys_id < 1 or sys_id > 254:
+        logger.error("sys_id must be between 1 and 254")
+        raise typer.Exit(code=1)
     with logger.contextualize(syd_id=sys_id):
+        DOCKER_INSTANCE = (str(2375 + sys_id),)
         with modified_environ(
             # PX4_SIM_MODEL=os.environ.get("PX4_SIM_MODEL") or "gz_x500",
             # ToDo: pose is not passed to gazebo classic
             PX4_GZ_MODEL_POSE=os.environ.get("PX4_GZ_MODEL_POSE") or f"0,{(sys_id-1)}",
             PX4_INSTANCE="intance_id",
+            DOCKER_INSTANCE=DOCKER_INSTANCE,
             ROS_MASTER_PORT=str(11310 + sys_id),
             MAVROS_SIM_GCS_PORT=str(14556 + sys_id),
             MAVROS_SIM_FCU_PORT=str(14539 + sys_id),
             DRONE_SYS_ID=str(sys_id),
         ):
+            logger.info("Starting drone simulation")
             # Run the make px4_sitl gazebo-classic command
             px4_command = sh.make(
                 "px4_sitl",
@@ -132,6 +154,25 @@ def start(sys_id: int = 1, extra_apps: List[pathlib.Path] = []):
                 _cwd=px4Path,
             )
             processes.append(px4_command)
+            logger.info("Starting drone docker instance")
+            # Here we start a docker-in-docker instance with the DOCKER_INSTANCE port exposed to localhost
+            dockerinstance = sh.docker(
+                "run",
+                "--privileged",
+                "--name",
+                f"simulated_robot_{sys_id}_docker",
+                "-p",
+                f"localhost:{DOCKER_INSTANCE}:{DOCKER_INSTANCE}",
+                # Run the docker command in forground to capture the output
+                "docker:dind",
+                _bg=True,
+                _out=outputLogger("docker", sys_id),
+            )
+            processes.append(dockerinstance)
+            # Wait for the docker daemon to start
+            logger.info(f"Waiting for docker daemon on port {DOCKER_INSTANCE}")
+            wait_for_docker_on_port(DOCKER_INSTANCE)
+
             logger.info("Starting drone stack, this may take some time")
             docker_stack = sh.docker.compose(
                 "--project-name",