diff --git a/dockerfiles/DevenvMelodic.Dockerfile b/dockerfiles/DevenvMelodic.Dockerfile
index cabe0b532f50add694363a3ce4d019fe5c8624a4..1c4abddc3016968699df43af95e7936ec46a954c 100644
--- a/dockerfiles/DevenvMelodic.Dockerfile
+++ b/dockerfiles/DevenvMelodic.Dockerfile
@@ -200,6 +200,14 @@ RUN apt-get update && apt-get install -y \
     ros-melodic-spacenav-node \
     spacenavd
 
+RUN pip3 install --upgrade pip
+
+RUN apt-get update && apt-get install -y \
+    ipython3 \
+    ipython
+
+# RUN pip3 install sqlite-utils
+
 # Update final image
 RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
 RUN apt-get clean
diff --git a/dotfiles/.gitconfig b/dotfiles/.gitconfig
index c1ed3323b8ed69bb56e86e189cf1dcf03934b8dc..df0f3f4bcbc4ea117ae5f48b00d155e8a052110a 100644
--- a/dotfiles/.gitconfig
+++ b/dotfiles/.gitconfig
@@ -7,4 +7,4 @@
 	name = Andres Montano
 	email = andres.montano@tecnalia.com
 [credential]
-	helper = cache --timeout=3600
+	helper = "!f() { /home/andres/.vscode-server/bin/da76f93349a72022ca4670c1b84860304616aaa2/node /tmp/vscode-remote-containers-5a60cb1da759d14ee4cea752b3a5b9093efdb2c8.js $*; }; f"
diff --git a/dotfiles/.zshrc b/dotfiles/.zshrc
index a8f7475baea6a77e88d694cedb0534d185002822..9c90b43c36f1e988f5296dcf210d07a69d1dfaef 100644
--- a/dotfiles/.zshrc
+++ b/dotfiles/.zshrc
@@ -6,31 +6,31 @@ if [[ -r "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh" ]]
 fi
 
 # If you come from bash you might have to change your $PATH.
-# export PATH=$HOME/bin:/usr/local/bin:$PATH
+export PATH=$HOME/.local/bin:$PATH
 
 # Path to your oh-my-zsh installation.
 export ZSH="/home/andres/.oh-my-zsh"
 
 # Use modern completion system
-autoload -Uz compinit
-compinit
-
-zstyle ':completion:*' auto-description 'specify: %d'
-zstyle ':completion:*' completer _expand _complete _correct _approximate
-zstyle ':completion:*' format 'Completing %d'
-zstyle ':completion:*' group-name ''
-zstyle ':completion:*' menu select=2
-eval "$(dircolors -b)"
-zstyle ':completion:*:default' list-colors ${(s.:.)LS_COLORS}
-zstyle ':completion:*' list-colors ''
-zstyle ':completion:*' list-prompt %SAt %p: Hit TAB for more, or the character to insert%s
-zstyle ':completion:*' matcher-list '' 'm:{a-z}={A-Z}' 'm:{a-zA-Z}={A-Za-z}' 'r:|[._-]=* r:|=* l:|=*'
-zstyle ':completion:*' menu select=long
-zstyle ':completion:*' select-prompt %SScrolling active: current selection at %p%s
-zstyle ':completion:*' use-compctl false
-zstyle ':completion:*' verbose true
-zstyle ':completion:*:*:kill:*:processes' list-colors '=(#b) #([0-9]#)*=0=01;31'
-zstyle ':completion:*:kill:*' command 'ps -u $USER -o pid,%cpu,tty,cputime,cmd'
+# autoload -Uz compinit
+# compinit
+
+# zstyle ':completion:*' auto-description 'specify: %d'
+# zstyle ':completion:*' completer _expand _complete _correct _approximate
+# zstyle ':completion:*' format 'Completing %d'
+# zstyle ':completion:*' group-name ''
+# zstyle ':completion:*' menu select=2
+# eval "$(dircolors -b)"
+# zstyle ':completion:*:default' list-colors ${(s.:.)LS_COLORS}
+# zstyle ':completion:*' list-colors ''
+# zstyle ':completion:*' list-prompt %SAt %p: Hit TAB for more, or the character to insert%s
+# zstyle ':completion:*' matcher-list '' 'm:{a-z}={A-Z}' 'm:{a-zA-Z}={A-Za-z}' 'r:|[._-]=* r:|=* l:|=*'
+# zstyle ':completion:*' menu select=long
+# zstyle ':completion:*' select-prompt %SScrolling active: current selection at %p%s
+# zstyle ':completion:*' use-compctl false
+# zstyle ':completion:*' verbose true
+# zstyle ':completion:*:*:kill:*:processes' list-colors '=(#b) #([0-9]#)*=0=01;31'
+# zstyle ':completion:*:kill:*' command 'ps -u $USER -o pid,%cpu,tty,cputime,cmd'
 
 # Set name of the theme to load --- if set to "random", it will
 # load a random theme each time oh-my-zsh is loaded, in which case,
@@ -80,7 +80,7 @@ HIST_STAMPS="dd/mm/yyyy"
 # Custom plugins may be added to $ZSH_CUSTOM/plugins/
 # Example format: plugins=(rails git textmate ruby lighthouse)
 # Add wisely, as too many plugins slow down shell startup.
-plugins=(git history-substring-search zsh-autosuggestions sudo last-working-dir zsh-syntax-highlighting globalias) #zsh-autosuggestions
+plugins=(sudo git last-working-dir zsh-syntax-highlighting globalias zsh-autosuggestions ) #history-substring-search  
 
 source $ZSH/oh-my-zsh.sh
 
@@ -104,7 +104,7 @@ source ${HOME}/srcs/development_environment/dotfiles/system.bash
 
 eval "$(direnv hook zsh)"
 
-[ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
+# [ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
 
 # To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
 [[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh
diff --git a/dotfiles/docker.bash b/dotfiles/docker.bash
index 167813544a4ab978db1ab94f3dd8a384bed4ad27..b4a068c2ddb15dc8fa57b67541544de39094dddc 100644
--- a/dotfiles/docker.bash
+++ b/dotfiles/docker.bash
@@ -25,7 +25,11 @@ function rundoc() {
 }
 
 function docrun() {
-	rocker --nvidia --pulse --x11 --privileged --name odin_robot --network host odin_robot:melodic $1
+	rocker --nvidia --pulse --x11 --volume /dev/video0:/dev/video0 --privileged --oyr-run-arg " -v odin_robot_volume:/root/" --name odin_robot --network host odin_robot:melodic $1
+}
+
+function runodin() {
+	rocker --nvidia --pulse --x11 --privileged --volume /dev/video0:/dev/video0 --name odin_melodic --network host devenv:melodic $1
 }
 
 function runmelodic() {
diff --git a/dotfiles/ros.bash b/dotfiles/ros.bash
index 42b2b088d3975ded9df693969e6ce923e1091978..e38d40282428e95dfa1f481d130a71ad9d52148b 100644
--- a/dotfiles/ros.bash
+++ b/dotfiles/ros.bash
@@ -23,6 +23,11 @@ function sourcews(){
     source ./devel/setup.${ext} && smon
 }
 
+# Source the current workspace
+function sourceros(){
+    source /opt/ros/${ROS_DISTRO}/setup.${ext} && smon
+}
+
 # Source the current workspace
 function sourcethis(){
     pwd_st=${PWD}
diff --git a/dotfiles/system.bash b/dotfiles/system.bash
index 50768e6bd7a22431925f4ca75d2e293b1931f26e..aa045a799d25d2d24ae37ea692e9b5b2b28b3ee9 100644
--- a/dotfiles/system.bash
+++ b/dotfiles/system.bash
@@ -16,4 +16,6 @@ then
 fi
 
 # Python
-alias ipy='ipython'
\ No newline at end of file
+alias ipy='ipython'
+
+alias mountT='sudo mount -t cifs //tri.lan/tri /mnt/T --verbose -o username=110343,password=FarrukMontano\#8657,workgroup=TRI.LAN'
diff --git a/notes/Irisbond.txt b/notes/Irisbond.txt
new file mode 100644
index 0000000000000000000000000000000000000000..798d78061d85fcadacf15f6c9b5d4d2dfb37efca
--- /dev/null
+++ b/notes/Irisbond.txt
@@ -0,0 +1,50 @@
+Pruebas funcionales
+
+Playas distancias
+Inspección optica - folio en blanco
+Movimientos
+Ojos mecatrónicos
+6 dof para el futuro
+
+Aplicación para lanzar pruebas
+
+8 min de pruebas -- muy largos
+Enchufar de manera automática
+
+Pruebas visuales - funcionales
+
+-----
+No operario
+
+--- Celula robótica que haga las pruebas y solución completa con sw DB
+
+Plazos: Primera propuesta y presupuesto
+-- Viabilidad - Financiación ayudas Industria 4.0
+-- Implementación 6 meses - 1 año
+
+Problemas de distribuidores
+
+SW aplicacion para elejir la pruebas
+Robot coordenadas, se hacen la pruebas
+Resultados se envían a sistema para almacenar en base de datos
+
+HMI y aplicacion para pruebas
+Movimiento del robot
+Guardar resultados
+
+Montaje de todo
+
+Inspección visual y procesamiento
+Luces, movimiento
+USB, logos, roscado, etiqueta (ok legible, OCR)
+
+La misma célula para los dos tipos de pruebas
+
+Proyecto llave en mano -- Ingeniería vs Centro Tecnológico
+Interesante tener soporte, formación, servicio (capacidad)
+
+Tecnalia - prototipo
+Ingeniería - Mucho más servicio + soporte
+P4Pub a futuro USA
+Sistema de control de calidad
+
diff --git a/notes/descartes_capability_notes.md b/notes/descartes_capability_notes.md
index e599ceedccbd623831c06ebd4c9399cb02db267c..297fb6fe5b515b2235f28cf21a9d41dbd538f631 100644
--- a/notes/descartes_capability_notes.md
+++ b/notes/descartes_capability_notes.md
@@ -4,7 +4,7 @@
 
 Alternative to get a solution in the form descartes + moveit, being descartes a pluging, so it is possible to call compute cartesian path using the moveit interface.
 
-* Only works in melodic (Possible portability to noetic, but crash on execution)
+* Works in melodic and noetic
 
 ## Examples
 
@@ -15,13 +15,13 @@ Alternative to get a solution in the form descartes + moveit, being descartes a
 Terminal 1:
 
 ```bash
-roslaunch flexbotic_robots_iiwa iiwa_ikfast.launch
+mon launch cartesian_planner_descartes iiwa7.launch
 ```
 
 Terminal 2:
 
 ```bash
-rosrun descartes_examples example_cartesian_manipulator.py
+rosrun cartesian_planner_descartes example_cartesian_manipulator.py
 ```
 
 ## OPW