diff --git a/Dockerfile b/Dockerfile
index 99c041decd98970c9fd6960e69f878ef4ad7fa07..ee41e99fdeef18e3ae52c70d27c574c3a07e6418 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -6,8 +6,8 @@ RUN apt update; apt install -y vim tmux git sudo stow
 
 # add nonroot user 'user' with sudo abilities and nice configurations
 RUN adduser user --home /home/user
-RUN echo 'root:DOCKER'|chpasswd
-RUN echo 'user:docker'|chpasswd
+RUN echo 'root:root'|chpasswd
+RUN echo 'user:user'|chpasswd
 RUN echo "user ALL=(ALL:ALL) ALL" >> /etc/sudoers
 #RUN echo "source /opt/ros/melodic/setup.bash" >> /home/user/.bashrc
 # covenience, this entire block can be removed without affecting the functionality
@@ -22,7 +22,8 @@ RUN echo 'PS1="\u:\wΣ "' >> /home/user/.bashrc
 # setup workspace
 RUN mkdir -p  /home/user/catkin_ws/src
 WORKDIR /home/user/catkin_ws/src
-RUN git clone https://github.com/tecnalia-medical-robotics/manipulability_metrics
+COPY manipulability_metrics /home/user/catkin_ws/src
+#RUN git clone https://github.com/tecnalia-medical-robotics/manipulability_metrics
 
 # entry script
 COPY scripts/* /home/user/catkin_ws/scripts/
diff --git a/manipulability_metrics b/manipulability_metrics
index 0e1360376a49fdc623e761fc8ca769e99fa11ac9..cb45bc21aadbf41eac0fbad18889fd9524401a7c 160000
--- a/manipulability_metrics
+++ b/manipulability_metrics
@@ -1 +1 @@
-Subproject commit 0e1360376a49fdc623e761fc8ca769e99fa11ac9
+Subproject commit cb45bc21aadbf41eac0fbad18889fd9524401a7c
diff --git a/scripts/prepare.sh b/scripts/prepare.sh
index 4edcd96c91cbfbdff2f83373de3d4dac2ee36449..5149919f311c0b437bfe573983dab066123f0955 100644
--- a/scripts/prepare.sh
+++ b/scripts/prepare.sh
@@ -1,10 +1,3 @@
-# remove namespace to avoid problem
-vim -E /home/user/catkin_ws/src/manipulability_metrics/manipulability_metrics_examples/urdf/panda.urdf.xacro << EOF
-	normal GkWWdE
-	w
-	q
-EOF
-
 # install dependencies
 rosdep update
 rosdep install --from-paths src --ignore-src -r -y