diff --git a/dockerfiles/DevenvMelodic.Dockerfile b/dockerfiles/DevenvMelodic.Dockerfile
index cabcefdaa24ea6546c3646a1dd2b1d94c25facf6..47c88c96570b60105dddfa55e971be11a6d7af48 100644
--- a/dockerfiles/DevenvMelodic.Dockerfile
+++ b/dockerfiles/DevenvMelodic.Dockerfile
@@ -30,6 +30,7 @@ RUN apt-get -y install --no-install-recommends \
     curl \
     cmake \
     openssh-client \
+    python-pip \
     python-catkin-tools \
     python-osrf-pycommon \
     xterm \
@@ -98,7 +99,12 @@ RUN apt-get install -y \
     ros-melodic-imu-complementary-filter \
     ros-melodic-mavros-msgs \
     ros-melodic-joint-trajectory-controller \
-    python-sqlalchemy
+    ros-melodic-executive-smach-visualization \
+    ros-melodic-catkin-virtualenv \
+    python-sqlalchemy \
+    python-zmq \
+    ros-melodic-trac-ik-kinematics-plugin \
+    python3-catkin-pkg-modules
 
  # Packages installed as dependecies of botarobota
 RUN apt-get install -y \
@@ -112,7 +118,9 @@ RUN apt-get install -y \
     sqlite3
 
 RUN apt-get install -y \
-    ros-melodic-realsense2-camera
+    ros-melodic-realsense2-camera \
+    ros-melodic-eigen-conversions \
+    ros-melodic-industrial-ci
 
 RUN apt-get update \
     && apt-get upgrade ca-certificates -y
@@ -121,11 +129,23 @@ RUN curl -fsSLk https://deb.nodesource.com/setup_14.x | bash - \
     && apt-get install -y -qq nodejs \
     && npm install -g yarn
 
-RUN curl -s https://b0e12e65a4f16bfc4594206c69dce2a49a5eabd04efb7540:@packagecloud.io/install/repositories/reelrbtx/SMACC_viewer/script.deb.sh | bash \
-    && apt-get -y install ros-melodic-smacc-viewer
+# RUN curl -s https://b0e12e65a4f16bfc4594206c69dce2a49a5eabd04efb7540:@packagecloud.io/install/repositories/reelrbtx/SMACC_viewer/script.deb.sh | bash \
+#     && apt-get -y install ros-melodic-smacc-viewer
+
+RUN apt-get install -y \
+    gir1.2-gtk-3.0 \
+    python3-gi \
+    python3-gi-cairo \
+    python3-numpy \
+    python3-pip \
+    python-pip \
+    graphviz \
+    xdot
+
+RUN python3 -m pip install xdot
 
 # Update final image
-RUN apt-get update && apt-get -y upgrade
+RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
 RUN apt-get clean
 
 # Set entrypoint
diff --git a/dockerfiles/DevenvNoetic.Dockerfile b/dockerfiles/DevenvNoetic.Dockerfile
index ded54f2044c2b4c5ae10971672f732e56bc7b870..7546fc4e8616ec38f45a4f383a21a1aa22d587d9 100644
--- a/dockerfiles/DevenvNoetic.Dockerfile
+++ b/dockerfiles/DevenvNoetic.Dockerfile
@@ -32,6 +32,7 @@ RUN apt-get -y install --no-install-recommends \
     curl \
     cmake \
     openssh-client \
+    ros-noetic-catkin \
     python3-catkin-tools \
     python3-osrf-pycommon \
     xterm \
@@ -85,14 +86,34 @@ RUN apt-get update && apt-get install -y \
     ros-noetic-rosmon \
     python3-vcstool \
     python3-pip \
-    python3-mock \
-    && rm -rf /var/lib/apt/lists/*
-
-# Update final image
-RUN apt-get update && apt-get -y upgrade
+    python3-mock
 
 RUN python3 -m pip install -U rope
 
+RUN apt-get update && apt-get install -y \
+    lcov \
+    libbullet-extras-dev \
+    libbenchmark-dev \
+    libclang-dev \
+    iwyu \
+    cppcheck \
+    libbullet-dev \
+    libbullet-extras-dev \
+    ros-noetic-fcl
+
+RUN apt-get update && apt-get install -y \
+    ros-noetic-industrial-robot-simulator
+
+RUN add-apt-repository ppa:ros-industrial/ppa \
+    && apt-get update && apt-get install -y \
+    taskflow
+
+# Update final image
+RUN apt-get update \
+    && apt-get -y upgrade \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
 # Set entrypoint
 COPY ./ros_entrypoint.sh /
 RUN chmod a+x /ros_entrypoint.sh
diff --git a/dockerfiles/TesseractIgnition.Dockerfile b/dockerfiles/TesseractIgnition.Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..6c1981b5c392b1e160cdc145b389906429bc6397
--- /dev/null
+++ b/dockerfiles/TesseractIgnition.Dockerfile
@@ -0,0 +1,65 @@
+FROM ubuntu:focal
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Setup environment
+RUN apt-get update && apt-get install -y \
+    locales \
+    && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+# Configure apt and install packages
+RUN apt-get -y install --no-install-recommends \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    gnupg-agent \
+    software-properties-common \
+    apt-utils dialog 2>&1 \
+    #
+    # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
+    # Install the https transport support package for The Artifactory debian repository
+    git \
+    git-lfs \
+    nano \
+    iproute2 \
+    procps \
+    lsb-release \
+    curl \
+    cmake \
+    openssh-client \
+    xterm \
+    terminator \
+    zsh \
+    wget \
+    && rosdep init || true
+
+# Packages installed as dependecies of tesseract-ignition
+RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+RUN apt-get update \
+    && apt install -y \
+    libignition-common3-dev \
+    libignition-common3-av-dev \
+    libignition-common3-events-dev \
+    libignition-common3-profiler-dev \
+    libignition-msgs5-dev \
+    libignition-rendering3-dev \
+    libignition-rendering3-ogre1-dev \
+    libignition-rendering3-ogre2-dev \
+    libignition-transport8-dev \
+    libignition-gui3-dev \
+    libignition-math6-eigen3-dev
+
+# Update final image
+RUN apt-get -y upgrade \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+CMD ["bash"]
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=
\ No newline at end of file
diff --git a/dotfiles/.zshrc b/dotfiles/.zshrc
index d19112c5caf095e4a35c0ce0490994fc0eb57557..61d6b4ebd48914894d0b56b1173bec107ab610f3 100644
--- a/dotfiles/.zshrc
+++ b/dotfiles/.zshrc
@@ -9,6 +9,7 @@ export ZSH="/home/andres/.oh-my-zsh"
 # to know which specific one was loaded, run: echo $RANDOM_THEME
 # See https://github.com/ohmyzsh/ohmyzsh/wiki/Themes
 ZSH_THEME="robbyrussell"
+#ZSH_THEME="avit"
 #ZSH_THEME="dst"
 #ZSH_THEME="bira"
 #ZSH_THEME="agnoster"
@@ -74,7 +75,7 @@ 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
+plugins=(git history-substring-search zsh-autosuggestions) #zsh-autosuggestions
 
 source $ZSH/oh-my-zsh.sh
 
@@ -111,4 +112,3 @@ export PATH=~/.venv/rocker_venv/bin:$PATH
 
 source /home/andres/srcs/development_environment/dotfiles/git.bash
 source /home/andres/srcs/development_environment/dotfiles/docker.bash
-
diff --git a/dotfiles/docker.bash b/dotfiles/docker.bash
index 76ee296ac39e323d0ab80a4f935bc0e84fb71e3f..9266b9102dd03694542ee9b7f471a5ee242e30f7 100644
--- a/dotfiles/docker.bash
+++ b/dotfiles/docker.bash
@@ -45,7 +45,7 @@ function drma {
 }
 
 function dat() {
-	docker exec -it melodic bash
+	docker exec -it melodic bash -c "cd ~/ros/melodic/$1 && bash"
 }
 
 function datnoetic() {
diff --git a/notes/ROS Industrial.md b/notes/ROS Industrial.md
new file mode 100644
index 0000000000000000000000000000000000000000..8bd3333206246f7c7a33fdb5c923d00dec878e53
--- /dev/null
+++ b/notes/ROS Industrial.md	
@@ -0,0 +1,47 @@
+# ROS Industrial -- Planning projects
+
+Git hub repositories for [community & partner](https://github.com/ros-industrial) and [Consirtium](https://github.com/ros-industrial-consortium) developed.
+
+## [Tesseract Robotics](https://github.com/tesseract-robotics)
+
+### [Tesseract Environment](https://github.com/tesseract-robotics/tesseract)
+
+The planning framework (Tesseract) was designed to be light weight, limiting the number of dependencies, mainly only using standard libraries like, eigen, boost, orocos and to the packages below. The core packages are ROS agnostic and have full python support.
+
+
+#### Build Instructions
+    . Clone repository into your workspace
+    . Clone the repositories in the dependencies.rosinstall file using wstool or some other method (e.g. manually git cloning them)
+    . Run rosdep install -iy --from-paths --ignore-src src
+    . Build the workspace using catkin tools, colcon, or a similar tool
+
+*NOTE:* For noetic tesseract_ext is not required. Install the following dependencies: libbullet-dev, libbullet-extras-dev and ros-noetic-fcl. Taskflow can be install using the PPA below.
+
+*NOTE:* To speed up clean build you may want to add tesseract_ext to an extended workspace.
+
+*NOTE:* Install TaskFlow from ROS-Industrial PPA.
+
+````
+RUN add-apt-repository ppa:ros-industrial/ppa \
+    apt-get update && apt-get install -y \
+    taskflow
+````
+#### [Tesseract Setup Wizard and Visualization Tools](https://snapcraft.io/tesseract-ignition)
+Snap from tesseract-ignition
+
+ros-noetic-ifopt
+sudo apt-get install bison flex
+
+### Documentation
+https://github.com/tesseract-robotics/tesseract_docs.git
+
+
+
+
+=====
+
+https://github.com/ros-industrial/fanuc.git (melodic)
+http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html
+
+
+