diff --git a/dockerfiles/devenv.Dockerfile b/dockerfiles/devenv.Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..bab530bd199a6e6f9fd4921e8600c83dda3b5a40
--- /dev/null
+++ b/dockerfiles/devenv.Dockerfile
@@ -0,0 +1,203 @@
+ARG ROS_DISTRO
+
+FROM osrf/ros:${ROS_DISTRO}-desktop-full
+RUN echo "Building devenv for ROS" $ROS_DISTRO
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Setup environment
+RUN apt-get update && apt-get install -y \
+    locales \
+    && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+# Configure apt and install packages
+RUN apt-get update && apt-get -y install --no-install-recommends \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    gnupg-agent \
+    software-properties-common \
+    apt-utils dialog 2>&1 \
+    # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
+    # Install the https transport support package for The Artifactory debian repository
+    clang-format \
+    direnv \
+    git \
+    git-lfs \
+    less \
+    nano \
+    openssh-client \
+    terminator \
+    xterm \
+    zsh \
+    #
+    ros-${ROS_DISTRO}-catkin \
+    ros-${ROS_DISTRO}-plotjuggler \
+    ros-${ROS_DISTRO}-plotjuggler-ros \
+    ros-${ROS_DISTRO}-rosmon \
+    ros-${ROS_DISTRO}-rqt-controller-manager \
+    ros-${ROS_DISTRO}-rqt-joint-trajectory-controller
+
+RUN if [ "${ROS_DISTRO}" = "noetic"  ]; \
+    then \
+        apt-get -y install \
+            ipython3 \
+            python-is-python3 \
+            python3-catkin-tools \
+            python3-click \
+            python3-numpy \
+            python3-osrf-pycommon; \
+    elif [ "${ROS_DISTRO}" = "melodic" ]; \
+    then \
+        apt-get -y install \
+            ipython \
+            python-catkin-tools \
+            python-pip \
+            python-osrf-pycommon; \
+    else \
+        echo "Not supported version"; \
+    fi
+
+# Configure system to look for debian packages in the Artifactory repository
+COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf
+
+# Import the key in order to be able to use the packages from the repository
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+# Configure rosdep
+RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
+    >> /etc/ros/rosdep/sources.list.d/20-default.list"
+
+# Install docker-ce
+# RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
+# RUN add-apt-repository \
+#     "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
+# RUN apt-get update && apt-get -y install \
+#     docker-ce \
+#     docker-ce-cli \
+#     containerd.io \
+#     docker-compose-plugin
+
+# Install pip3 and packages
+RUN apt-get install -y \
+    python3-pip \
+    && pip3 install sqlite_utils
+
+# Install node for UIs
+RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
+    && apt-get install -y nodejs && npm -g install yarn
+
+# ROS WS dependencies
+RUN apt-get update && apt-get install -y \
+    libceres-dev \
+    libcomedi-dev \
+    libglfw3-dev \
+    libmodbus-dev \
+    python-numpy \
+    socat \
+    # ROS Distro packages
+    ros-${ROS_DISTRO}-ackermann-msgs \
+    ros-${ROS_DISTRO}-amcl \
+    ros-${ROS_DISTRO}-cartesian-trajectory-controller \
+    ros-${ROS_DISTRO}-chomp-motion-planner \
+    ros-${ROS_DISTRO}-collada-urdf \
+    ros-${ROS_DISTRO}-effort-controllers \
+    ros-${ROS_DISTRO}-force-torque-sensor-controller \
+    ros-${ROS_DISTRO}-gmapping \
+    ros-${ROS_DISTRO}-hector-gazebo-plugins \
+    ros-${ROS_DISTRO}-hector-mapping \
+    ros-${ROS_DISTRO}-imu-complementary-filter \
+    ros-${ROS_DISTRO}-imu-tools \
+    ros-${ROS_DISTRO}-industrial-core \
+    ros-${ROS_DISTRO}-industrial-robot-simulator \
+    ros-${ROS_DISTRO}-industrial-robot-status-controller \
+    ros-${ROS_DISTRO}-industrial-robot-status-interface \
+    ros-${ROS_DISTRO}-interactive-marker-twist-server \
+    ros-${ROS_DISTRO}-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-joy \
+    ros-${ROS_DISTRO}-lms1xx \
+    ros-${ROS_DISTRO}-map-server \
+    ros-${ROS_DISTRO}-mavros-msgs \
+    ros-${ROS_DISTRO}-move-base \
+    ros-${ROS_DISTRO}-moveit-commander \
+    ros-${ROS_DISTRO}-moveit-fake-controller-manager \
+    ros-${ROS_DISTRO}-moveit-planners-chomp \
+    ros-${ROS_DISTRO}-moveit-planners-ompl \
+    ros-${ROS_DISTRO}-moveit-resources \
+    ros-${ROS_DISTRO}-moveit-ros-benchmarks \
+    ros-${ROS_DISTRO}-moveit-ros-move-group \
+    ros-${ROS_DISTRO}-moveit-ros-planning-interface \
+    ros-${ROS_DISTRO}-moveit-ros-visualization \
+    ros-${ROS_DISTRO}-moveit-ros-warehouse \
+    ros-${ROS_DISTRO}-moveit-setup-assistant\
+    ros-${ROS_DISTRO}-moveit-simple-controller-manager \
+    ros-${ROS_DISTRO}-moveit-visual-tools \
+    ros-${ROS_DISTRO}-navigation \
+    ros-${ROS_DISTRO}-pass-through-controllers \
+    ros-${ROS_DISTRO}-pilz-industrial-motion \
+    ros-${ROS_DISTRO}-realsense2-camera \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-ros-control \
+    ros-${ROS_DISTRO}-ros-control-boilerplate \
+    ros-${ROS_DISTRO}-ros-controllers \
+    ros-${ROS_DISTRO}-rosbridge-server \
+    ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-serial \
+    ros-${ROS_DISTRO}-spacenav-node \
+    ros-${ROS_DISTRO}-speed-scaling-interface \
+    ros-${ROS_DISTRO}-speed-scaling-state-controller \
+    ros-${ROS_DISTRO}-teb-local-planner \
+    ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
+    ros-${ROS_DISTRO}-twist-controller \
+    ros-${ROS_DISTRO}-twist-mux \
+    ros-${ROS_DISTRO}-ur-client-library \
+    ros-${ROS_DISTRO}-ur-msgs \
+    ros-${ROS_DISTRO}-velocity-controllers \
+    ros-${ROS_DISTRO}-warehouse-ros-mongo
+
+RUN if [ "${ROS_DISTRO}" = "noetic"  ]; \
+    then \
+        apt-get -y install \
+            ipython3 \
+            python-is-python3 \
+            python3-catkin-tools \
+            python3-click \
+            python3-numpy \
+            python3-osrf-pycommon; \
+    elif [ "${ROS_DISTRO}" = "melodic" ]; \
+    then \
+        apt-get -y install \
+            ros-${ROS_DISTRO}-ar-track-alvar \
+            python-mock \
+            python-funcsigs \
+            python-sqlalchemy \
+            python3-rospkg-modules \
+            python3-yaml; \
+    else \
+        echo "Not supported version"; \
+    fi
+
+# Update this date to re-run the image final update
+LABEL image.date=01-12-2022
+
+# Update final image
+RUN apt-get update \
+    && apt-get -y upgrade
+
+# Set entrypoint
+COPY ./ros_entrypoint.sh /
+RUN chmod a+x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["zsh"]
+ENV ROS_DISTRO "${ROS_DISTRO}"
+ENV SHELL /usr/bin/zsh
+ENV RUNNING_IN_DOCKER true
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=
\ No newline at end of file
diff --git a/dockerfiles/melodic.Dockerfile b/dockerfiles/other/melodic.Dockerfile
similarity index 92%
rename from dockerfiles/melodic.Dockerfile
rename to dockerfiles/other/melodic.Dockerfile
index 4cd3f35df01150d23381f04c3afc53b248c099e2..de218a9d2651e4e78190cef925df5afeda05df97 100644
--- a/dockerfiles/melodic.Dockerfile
+++ b/dockerfiles/other/melodic.Dockerfile
@@ -25,26 +25,33 @@ RUN apt-get update && apt-get -y install --no-install-recommends \
     git \
     git-lfs \
     nano \
+    less \
     clang-format \
     direnv \
     xterm \
     terminator \
     zsh \
     #
-    ros-${ROS_DISTRO}-catkin \
-    ros-${ROS_DISTRO}-rosmon \
-    ros-${ROS_DISTRO}-plotjuggler-ros \
+    ipython \
     python-catkin-tools \
     python-numpy \
     python-osrf-pycommon \
-    ipython
+    ros-${ROS_DISTRO}-catkin \
+    ros-${ROS_DISTRO}-plotjuggler \
+    ros-${ROS_DISTRO}-plotjuggler-ros \
+    ros-${ROS_DISTRO}-rosmon \
+    ros-${ROS_DISTRO}-rqt-controller-manager \
+    ros-${ROS_DISTRO}-rqt-joint-trajectory-controller
 
 # Install docker-ce
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-RUN add-apt-repository \
-    "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-RUN apt-get update && apt-get -y install --no-install-recommends \
-    docker-ce-cli
+# RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
+# RUN add-apt-repository \
+#     "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
+# RUN apt-get update && apt-get -y install --no-install-recommends \
+#     docker-ce \
+#     docker-ce-cli \
+#     containerd.io \
+#     docker-compose-plugin
 #    && rm -rf /var/lib/apt/lists/*
 
 # Configure system to look for debian packages in the Artifactory repository
diff --git a/dockerfiles/noetic.Dockerfile b/dockerfiles/other/noetic.Dockerfile
similarity index 88%
rename from dockerfiles/noetic.Dockerfile
rename to dockerfiles/other/noetic.Dockerfile
index c710749362323250375e9ab06380fc5afa8d4513..fd2f5499d75ba7f23279cb28ab9b204a060b359c 100644
--- a/dockerfiles/noetic.Dockerfile
+++ b/dockerfiles/other/noetic.Dockerfile
@@ -32,26 +32,28 @@ RUN apt-get update && apt-get -y install --no-install-recommends \
     terminator \
     zsh \
     #
+    ipython3 \
+    python-is-python3 \
+    python3-catkin-tools \
+    python3-click \
+    python3-numpy \
+    python3-osrf-pycommon \
     ros-${ROS_DISTRO}-catkin \
     ros-${ROS_DISTRO}-plotjuggler \
     ros-${ROS_DISTRO}-plotjuggler-ros \
     ros-${ROS_DISTRO}-rosmon \
-    python3-catkin-tools \
-    python3-osrf-pycommon \
-    python3-numpy \
-    python3-click \
-    python-is-python3 \
-    ipython3
+    ros-${ROS_DISTRO}-rqt-controller-manager \
+    ros-${ROS_DISTRO}-rqt-joint-trajectory-controller
 
 # Install docker-ce
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-RUN add-apt-repository \
-    "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-RUN apt-get update && apt-get -y install \
-    docker-ce \
-    docker-ce-cli \
-    containerd.io \
-    docker-compose-plugin
+# RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
+# RUN add-apt-repository \
+#     "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
+# RUN apt-get update && apt-get -y install \
+#     docker-ce \
+#     docker-ce-cli \
+#     containerd.io \
+#     docker-compose-plugin
 
 # Configure system to look for debian packages in the Artifactory repository
 # ARG USER_API_KEY_ARTIFACTS_TECNALIA
@@ -74,6 +76,7 @@ RUN apt-get update && apt-get install -y \
     libcomedi-dev \
     libglfw3-dev \
     libmodbus-dev \
+    python-numpy \
     ros-${ROS_DISTRO}-ackermann-msgs \
     ros-${ROS_DISTRO}-amcl \
     ros-${ROS_DISTRO}-cartesian-trajectory-controller \
@@ -85,11 +88,15 @@ RUN apt-get update && apt-get install -y \
     ros-${ROS_DISTRO}-hector-gazebo-plugins \
     ros-${ROS_DISTRO}-hector-mapping \
     ros-${ROS_DISTRO}-imu-complementary-filter \
+    ros-${ROS_DISTRO}-imu-tools \
+    ros-${ROS_DISTRO}-industrial-core \
     ros-${ROS_DISTRO}-industrial-robot-simulator \
     ros-${ROS_DISTRO}-industrial-robot-status-controller \
     ros-${ROS_DISTRO}-industrial-robot-status-interface \
+    ros-${ROS_DISTRO}-interactive-marker-twist-server \
     ros-${ROS_DISTRO}-joint-trajectory-controller \
     ros-${ROS_DISTRO}-joy \
+    ros-${ROS_DISTRO}-lms1xx \
     ros-${ROS_DISTRO}-map-server \
     ros-${ROS_DISTRO}-mavros-msgs \
     ros-${ROS_DISTRO}-move-base \
@@ -116,6 +123,7 @@ RUN apt-get update && apt-get install -y \
     ros-${ROS_DISTRO}-ros-controllers \
     ros-${ROS_DISTRO}-rosbridge-server \
     ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-serial \
     ros-${ROS_DISTRO}-spacenav-node \
     ros-${ROS_DISTRO}-speed-scaling-interface \
     ros-${ROS_DISTRO}-speed-scaling-state-controller \
@@ -140,9 +148,7 @@ RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
 
 # Update final image
 RUN apt-get update \
-    && apt-get -y upgrade \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/*
+    && apt-get -y upgrade
 
 # Set entrypoint
 COPY ./ros_entrypoint.sh /
diff --git a/dotfiles/.gitconfig b/dotfiles/.gitconfig
index c1ed3323b8ed69bb56e86e189cf1dcf03934b8dc..57e6674d70413475392a9dc92c5e20e3f0182395 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/6261075646f055b99068d3688932416f2346dd3b/node /tmp/vscode-remote-containers-3d8c92443114dbc6ada6ba17c8fe7a517dcf20fc.js $*; }; f"
diff --git a/dotfiles/docker.bash b/dotfiles/docker.bash
index 0a88239b1bb1b1ea50b4d3307a88daf3da190340..0504420dd520f77891edc5e1c078b8a77d0663c9 100644
--- a/dotfiles/docker.bash
+++ b/dotfiles/docker.bash
@@ -9,9 +9,10 @@ alias dimp="docker image prune"
 
 # Run container with rocker
 # usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd]
+# To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro
 function rundock() {
 	cd ~/ros/$1/$2;
-	rocker --home --user --ssh --git --privileged --nvidia --x11 --volume /var/run/docker.sock:/var/run/docker.sock:ro --network host --name $1 devenv:$1 $3
+	rocker --home --ssh --git --user --nvidia --x11 --network host --name $1 devenv:$1 $3
 }
 
 # Execute container, move to workspace, and source SHELL
@@ -40,7 +41,7 @@ function drmui(){
 # usage: dockbuild {noetic, melodic}
 function dockbuild(){
 	cd ~/srcs/development_environment/dockerfiles;
-	docker build -t devenv:$1 --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f $1.Dockerfile .
+	docker build -t devenv:$1 --build-arg ROS_DISTRO=$1 -f devenv.Dockerfile .
 }
 
 # function runpythonsyntax(){
diff --git a/dotfiles/ros.bash b/dotfiles/ros.bash
index e4add5ec0f9e278803e53794fa36aa851fd8afea..3ecdead331e5a28aab3883eb07b7fc1b71447039 100644
--- a/dotfiles/ros.bash
+++ b/dotfiles/ros.bash
@@ -40,7 +40,7 @@ function sourceros(){
 # Source the current workspace
 function sourcethis(){
     pwd_st=${PWD}
-    roshome && source ./devel/setup.${ext} && smon
+    roshome && sourcews
     cd ${pwd_st}
 }
 
@@ -58,16 +58,16 @@ function cbclean(){
     roshome && rm -rf build devel install && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
 }
 
+# Initialize catkin workspace, configure and build it
+function cib(){
+    catkin init && catkin config --extend /opt/ros/${ROS_DISTRO} && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
+}
+
 # Run ci locally
 function runci(){
     rosrun industrial_ci run_ci ROS_DISTRO="$@" DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:"$@"
 }
 
-# Initialize catkin workspace, configure and build it
-function cib(){
-    catkin init && catkin config --extend /opt/ros/${ROS_DISTRO} && catkin build --summarize
-}
-
 # If terminal starts in a ws, auto source it (useful for vscode)
 if [ -z ${ROS_DISTRO+x} ]; then ;
 else
diff --git a/notes/IK Plugin MoveIt.md b/notes/IK Plugin MoveIt.md
new file mode 100644
index 0000000000000000000000000000000000000000..c9c3cef1e6b3111f4af29275e95f138471d0a726
--- /dev/null
+++ b/notes/IK Plugin MoveIt.md	
@@ -0,0 +1,23 @@
+# IK Plugin MoveIt
+
+kinematics::KinematicsBase
+
+## KinematicsBase
+
+kinematics::KinematicsBase
+
+The KinematicsBase interface enables you, to:
+
+- write your own forward and inverse kinematic solvers
+- wrap external kinematic solver libraries
+
+### Interface Description
+
+The well documented interface is located here <https://github.com/ros-planning/moveit/blob/3464e3d27bd8655aa6187ca5d3a031a4f72663e2/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h>.
+
+### Concrete Implementations
+
+Examples for implementations of the KinematicsBase are
+
+- the KDL plugin: header <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>, cpp <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp>
+- the SrvKinematicsPlugin: header <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h>, cpp <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp>
diff --git a/notes/ik_solvers.md b/notes/ik_solvers.md
index c4175d9b43e04accf44eb56057596bde2b33847e..38390b9e56be3b35563c643806955902af110378 100644
--- a/notes/ik_solvers.md
+++ b/notes/ik_solvers.md
@@ -12,3 +12,28 @@
   ur_kinematics/UR16eKinematicsPlugin                       ERROR
 
 descartes (cpability) is not compatible with bio_ik
+
+Se generó un ikfast plugin con la escena de smart3d
+  smart3d_manipulator_kinematics/IKFastKinematicsPlugin_manipulator
+
+Para limitar los joints del ur, modificar el archivo:
+  /home/andres/ros/noetic/asai_ws/src/universal_robot/ur_description/config/ur16e/joint_limits.yaml
+  => Esto no produce mejores resultados
+
+## Closed form IK with calibration
+
+This is an open issue in official UR repository <https://github.com/ros-industrial/universal_robot/issues/564>
+
+As @miguel.prada suggest one option could be take the IKFast solutions as input seeds to other gradient descendent IK solver (e.g., KDL, bio_ik, track_ik, ...). The package everything in a IK_moveit_pluging.
+
+## References
+
+<https://robotics.stackexchange.com/questions/9152/inverse-kinematics-after-calibration>
+<https://forum.universal-robots.com/t/inverse-kinematics-python/24735>
+<https://github.com/ros-industrial/universal_robot/pull/414>
+<https://iopscience.iop.org/article/10.1088/1742-6596/1449/1/012128>
+
+<https://github.com/ros-industrial/universal_robot/issues/357>
+<https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/316>
+
+<https://github.com/ros-industrial/universal_robot/issues/564>