diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..779a484
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "ros-docker-dev"]
+ path = ros-docker-dev
+ url = https://github.com/AlfredMoore/ros-docker-dev.git
+ branch = realtime
\ No newline at end of file
diff --git a/doc/docker_script.md b/doc/docker_script.md
new file mode 100644
index 0000000..6c52e9d
--- /dev/null
+++ b/doc/docker_script.md
@@ -0,0 +1,58 @@
+
+### Optional: 3B. Seting Up Container with bash/zsh scripts
+If you want to use bash script to set up your container, try the module [ros-docker-dev](../ros-docker-dev).
+Features TLDR;
+ * User spoofing
+ * SSH forwarding
+ * Option to use zsh
+ * One-step building container
+
+#### Prerequisites
+To make the git submodule [ros-docker-dev](../ros-docker-dev) work and up-to-date, you should firstly
+initialize the submodule.
+```bash
+git submodule update --init --remote
+```
+#### Options
+We provide Options flag in this container. Please see [ros-docker-dev](../ros-docker-dev/README.md) for more details about this script and launching the containers.
+ * -n: Nocache or rebuild New image
+ * -b: use Bash instead of zsh
+ * -r: enable Realtime kernel
+
+#### Run Examples
+##### Usually you can just run
+```bash
+cd ros-docker-dev
+./enterpoint.sh -r
+```
+
+##### Example 1: Build or rebuild the image with no cache, enable realtime kernel.
+```bash
+cd ros-docker-dev
+./enterpoint.sh -nr
+```
+##### Example 2: Build and run image or enter an existing container, with realtime kernel. (-n will start rebuilding)
+```bash
+cd ros-docker-dev
+./enterpoint.sh -r
+```
+
+:warning: **Note:** If the realtime kernel is not permitted as the regular user in the container, you could try `sudo -i` to activate the root user.
+
+#### Continue Setup
+Now your container should be running and you should be in it's command line. Now setup the dependencies:
+```bash
+source /opt/ros/noetic/setup.zsh # or source /opt/ros/noetic/setup.bash if you are using bash
+cd src/relaxed_ik_ros1/relaxed_ik_core
+cargo build
+
+cd ${WORKSPACE_PATH}
+sudo bash ros-docker-dev/init_scripts/NIST_Benchmark.sh
+
+catkin build
+source devel/setup.bash # or source devel/setup.bash if you are using bash
+
+chmod +x ${WORKSPACE_PATH}/src/panda_benchmark/scripts/
+```
+
+Then in your [run_simulation](./run_simulation.md) and [run_robot](./run_robot.md), you are supposed to use `simulation_b.launch` and `interface_b.launch`.
diff --git a/doc/setup.md b/doc/setup.md
index 0364985..9d96717 100644
--- a/doc/setup.md
+++ b/doc/setup.md
@@ -73,7 +73,6 @@ chmod +x /workspace/src/panda_benchmark/scripts/move_to_position.py
```
-
### 4. Set Up Franka Desktop
Before you can run anything with the FCI, make sure joints are unlocked and FCI Control is enabled in the Franka desktop (our Desktops is at [192.168.1.2](https://192.168.1.2/desk/)). Directions for doing that are [here](https://youtu.be/91wFDNHVXI4?si=4-ZArdrxOMAiCc5H&t=484). WARNING: we could not get Firefox to access the desk because of security reasons. However we could access through chrome once we clicked "Advanced" > "Proceed to 192.168.1.2 (unsafe)".
@@ -84,6 +83,7 @@ Now you are ready to run the robot or simulation by reference [run_robot.md](/do
---
### Notes
+* Another [Docker option](./docker_script.md) to build, rebuild, run, execute images and containers with scripts faster.
* If you make changes in any of the src C/C++ files, you'll need to run:
diff --git a/ros-docker-dev b/ros-docker-dev
new file mode 160000
index 0000000..bdf3c45
--- /dev/null
+++ b/ros-docker-dev
@@ -0,0 +1 @@
+Subproject commit bdf3c45ea5a36e0a8a78d8ea05d8d7231bbda78e
diff --git a/src/franka_ros_interface/franka.sh b/src/franka_ros_interface/franka.sh
index 7661f50..3ca0391 100755
--- a/src/franka_ros_interface/franka.sh
+++ b/src/franka_ros_interface/franka.sh
@@ -36,17 +36,17 @@
## ========================================= #
# ----- EDIT THIS TO MATCH THE IP OF THE FRANKA ROBOT CONTROLLER IN THE NETWORK
-FRANKA_ROBOT_IP="FRANKA_ROBOT_IP.local"
+FRANKA_ROBOT_IP="192.168.1.2"
# ----- EDIT THIS TO MATCH YOUR IP IN THE NETWORK
-your_ip=""
+your_ip="192.168.1.5"
# ----- EDIT THIS TO MATCH THE IP OF THE MAIN ROS MASTER PC (CONNECTED TO THE FRANKA CONTROLLER),
# ----- ON WHICH THE Franka ROS Interface 'driver' NODES WILL BE RUNNING (SEE "USAGE EXPLAINED" BELOW).
# ----- THIS VALUE IS NEEDED ONLY IF YOU WILL USE THE 'remote' ENVIRONMENT ON THIS MACHINE.
ROS_MASTER_IP=""
-ros_version="melodic"
+ros_version="noetic"
## ========================================= #
## ========== USAGE EXPLAINED ============== #
diff --git a/src/panda_benchmark/launch/interface_b.launch b/src/panda_benchmark/launch/interface_b.launch
new file mode 100644
index 0000000..006d481
--- /dev/null
+++ b/src/panda_benchmark/launch/interface_b.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/panda_benchmark/launch/simulation_b.launch b/src/panda_benchmark/launch/simulation_b.launch
new file mode 100644
index 0000000..f5903e5
--- /dev/null
+++ b/src/panda_benchmark/launch/simulation_b.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/panda_benchmark/scripts/__pycache__/transformations.cpython-38.pyc b/src/panda_benchmark/scripts/__pycache__/transformations.cpython-38.pyc
index a2f2e3e..29b8608 100644
Binary files a/src/panda_benchmark/scripts/__pycache__/transformations.cpython-38.pyc and b/src/panda_benchmark/scripts/__pycache__/transformations.cpython-38.pyc differ