diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 00000000..36a3440d
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,8 @@
+FROM ubuntu:22.04
+WORKDIR /root 
+RUN apt-get update -y
+RUN apt-get upgrade -y
+RUN apt-get -y install git cmake build-essential libboost-system-dev libboost-program-options-dev libboost-thread-dev libboost-test-dev pkg-config libeigen3-dev libboost-filesystem-dev
+WORKDIR /root
+COPY install.sh /install.sh
+RUN /install.sh
diff --git a/docker/install.sh b/docker/install.sh
new file mode 100755
index 00000000..3e0ed1df
--- /dev/null
+++ b/docker/install.sh
@@ -0,0 +1,48 @@
+#!/bin/sh
+apt-get -y install git cmake build-essential libboost-system-dev libboost-program-options-dev libboost-thread-dev libboost-test-dev pkg-config libeigen3-dev libboost-filesystem-dev
+
+# cmake makros
+git clone https://github.com/rock-core/base-cmake.git   
+mkdir base-cmake/build && cd base-cmake/build
+cmake .. && make -j8 && make install && cd ../..
+
+# Logging 
+git clone https://github.com/rock-core/base-logging.git
+mkdir base-logging/build && cd base-logging/build
+cmake .. && make -j8 && make install && cd ../..
+
+# Base Types
+git clone https://github.com/rock-core/base-types.git
+mkdir base-types/build && cd base-types/build
+cmake .. -DUSE_SISL=OFF -DBINDINGS_RUBY=OFF -DROCK_VIZ_ENABLED=OFF
+make -j8 && make install && cd ../..
+
+# URDF
+apt-get -y install liburdfdom-headers-dev liburdfdom-dev 
+
+# Clone WBC repo here to have the patches
+git clone https://github.com/ARC-OPT/wbc.git
+
+# Pinocchio
+git clone --branch v2.6.8 --recurse-submodules https://github.com/stack-of-tasks/pinocchio.git
+cd pinocchio
+mkdir build && cd build
+cmake .. -DBUILD_PYTHON_INTERFACE=OFF -DBUILD_UNIT_TESTS=OFF -DCMAKE_BUILD_TYPE=RELEASE
+make -j8 && make install && cd ../..
+
+# If not done yet, setup a ssh key pair using the command `ssh-keygen` and add the 
+# key from `~/.ssh/id_rsa.pub `to the keys in your Gitlab account.
+
+# qpOASES
+git clone https://github.com/coin-or/qpOASES.git -b releases/3.2.0
+cd qpOASES
+mkdir patches && cp ../wbc/patches/qpOASES.patch patches
+git apply patches/qpOASES.patch
+mkdir build && cd build
+cmake .. && make -j8 && make install && cd ../..
+
+# WBC
+mkdir wbc/build && cd wbc/build
+cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+make -j8 && make install
+ldconfig