diff --git a/LICENSE b/LICENSE
index af070826415f4130980a829616d2f6c0206fcd4a..13cd74aa246a3fbe85e1b8f438879a10ff1bd0bf 100644
--- a/LICENSE
+++ b/LICENSE
@@ -186,7 +186,7 @@
same "printed page" as the copyright notice for easier
identification within third-party archives.
- Copyright 2022 AIFB_RobotGroup
+ Copyright 2025 AIFB_LearnEnvironmentGroup (Max Humbert, Florian Beyer, Malte Matthey)
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
diff --git a/README.md b/README.md
index 4d0e5bf9c321f89559e99b05ce82b32323404881..898d2163794504f41be614885c59e57835b0e6f9 100644
--- a/README.md
+++ b/README.md
@@ -1,9 +1,9 @@
# ROS Noetic Standard Container with Preinstalled Learn Environment Plugin
-> **âš ï¸ WARNING:** This README is for setting up the container with all functionalities. For the Learn Environment Plugin, follow the instructions in this README first. Then, refer to [GETTING_STARTED.md](./catkin_ws/src/learn_environment/tasks/GETTING_STARTED.md) for starting the tutorial or [CONTRIBUTE.md](./catkin_ws/src/learn_environment/developer_docs/CONTRIBUTE.md) for contribution guidelines (creating new tasks & extending the plugin).
+> **âš ï¸ WARNING:** This README is for setting up the container with all functionalities. For the Learn Environment Plugin, follow the instructions in this README first. Then, refer to [GETTING_STARTED.md](./catkin_ws/src/learn_environment/tasks/GETTING_STARTED.md) for starting the tutorial or [CONTRIBUTE.md](./catkin_ws/src/learn_environment/developer_docs/CONTRIBUTE.md) for contribution guidelines (creating new tasks & extending the plugin) in the [plugin's repository](TODO:ADD_LINK).
-This repository provides a Visual Studio Code development container with ROS Noetic installed to control a Franka Panda Robot in both simulation and real environments. It also has the Learn Environment plugin for RViz preinstalled so you can start learning how to work with the robot immediatly.
+This repository provides a Visual Studio Code development container with ROS Noetic installed to control a Franka Panda Robot in both simulation and real environments. It also has the Learn Environment plugin for RViz preinstalled and is optimised so you can start learning how to work with the robot immediatly.
## Features
diff --git a/catkin_ws/src/learn_environment/LICENSE b/catkin_ws/src/learn_environment/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..13cd74aa246a3fbe85e1b8f438879a10ff1bd0bf
--- /dev/null
+++ b/catkin_ws/src/learn_environment/LICENSE
@@ -0,0 +1,201 @@
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+ Copyright 2025 AIFB_LearnEnvironmentGroup (Max Humbert, Florian Beyer, Malte Matthey)
+
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diff --git a/catkin_ws/src/learn_environment/README.md b/catkin_ws/src/learn_environment/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..df39ef7d07e7f7b1b9a169b20a83d884aa72a200
--- /dev/null
+++ b/catkin_ws/src/learn_environment/README.md
@@ -0,0 +1,16 @@
+# Learn Environment for Franka Panda Robot - RViz Plugin
+
+The Learn Environment for the Franka Panda Robot is a tutorial on how to program the robot via its Python API. There are predefined tasks that the user has to complete. These tasks are provided as Jupyter Notebooks with code cells that the user needs to fill in. The plugin can start the tasks and automatically evaluate if they are solved correctly.
+
+
+
+### Install the Plugin:
+If you only want to use the plugin, the **easiest option** is to use a **devcontainer** or **Docker setup** from [this](TODO:ADD_LINK) repository.
+
+Alternatively without Docker, you can implement this repository as a submodule in your catkin workspace or copy the entire plugin into your catkin workspace.
+
+### Start the Tutorial:
+Instructions on how to start the tutorial can be found here: [GETTING_STARTED.md](./tasks/GETTING_STARTED.md).
+
+### Contribute:
+Instructions and guidelines on how to contribute to this plugin (creating new tasks & extending the plugin) can be found here: [CONTRIBUTE.md](./developer_docs/CONTRIBUTE.md).
\ No newline at end of file
diff --git a/catkin_ws/src/learn_environment/developer_docs/images/plugin_with_vs_code.png b/catkin_ws/src/learn_environment/developer_docs/images/plugin_with_vs_code.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c1dcbc4c57b12120f6139b1429aea975b7985bb
Binary files /dev/null and b/catkin_ws/src/learn_environment/developer_docs/images/plugin_with_vs_code.png differ
diff --git a/catkin_ws/src/learn_environment/tasks/GETTING_STARTED.md b/catkin_ws/src/learn_environment/tasks/GETTING_STARTED.md
index 23e09d4222cd06fa705aec954aad8d4abe4d801d..b82334d4dc42b0b654e452beb9067a85b0bbed0a 100644
--- a/catkin_ws/src/learn_environment/tasks/GETTING_STARTED.md
+++ b/catkin_ws/src/learn_environment/tasks/GETTING_STARTED.md
@@ -1,5 +1,7 @@
# Welcome to the Tutorial
-To get started, follow these steps:
+**Before you start:** We recommend reading the [theoretical introduction](theoretical_introduction.md) first.
+
+**After that:** Follow these steps to start with the tasks:
1. **Open a Terminal in VS Code**
Go to `Terminal` > `New Terminal` in the VS Code menu. The shortcut is ``Ctrl + ` ``
diff --git a/catkin_ws/src/learn_environment/tasks/theoretical_introduction.md b/catkin_ws/src/learn_environment/tasks/theoretical_introduction.md
new file mode 100644
index 0000000000000000000000000000000000000000..a2a4575ac96c45ec1b96c5dff3755b086e8993cb
--- /dev/null
+++ b/catkin_ws/src/learn_environment/tasks/theoretical_introduction.md
@@ -0,0 +1,33 @@
+# Introduction
+
+### Goal of the tutorial
+This tutorial introduces the Franka Emika Panda robot arm and provides a hands-on guide to understanding its systems. It focuses on learning how to control the robot using the Python API provided by its software. In the end, you'll gain theoretical and practical skills in working with robotic applications.
+
+### Target group of the tutorial
+This tutorial is designed for students and assistants working on projects involving the Panda robot arm, as well as anyone curious about robotic manipulation, regardless of prior experience.
+
+### General structure of the tutorial
+The tutorial progresses through various topics and difficulty levels, so you can start exactly where you want to. There is a Jupyter Notebook for each task you must complete. When you start your script, there is always an automatic evaluation at the end to see if and where you went wrong. In addition, we always provide a solution Jupyter Notebook if you get stuck on a task.
+
+# Systems
+
+There are several systems working together in our project. Here is a brief overview of what they are and what they do.
+
+### ROS
+ROS (Robot Operating System) is a set of software libraries and tools that can be used to create robot applications. Through this tutorial, you’ll explore the main features of ROS and its integration with the Panda robot arm.
+
+### Rviz
+Rviz (ROS Visualization) is a 3D visualization tool for ROS that is used for debugging and understanding robot data and states. It allows the display of sensor data, such as camera images, and the visualization of robot models and trajectories. In our case, Rviz will show us the robot arm and the trajectory of its movement. Rviz itself also offers its own plugins that can help when working with the robot. Our tutorial is also a Rviz plugin.
+
+### MoveIt
+MoveIt is an advanced robotics manipulation framework in ROS designed for motion planning, control and simulation of robotic arms. It provides tools for kinematics, collision detection, trajectory generation and task execution, making it indispensable for creating complex robotic applications. MoveIt will be an important part of the tutorial. Therefore, we will introduce you to MoveIt within the tasks.
+
+### Gazebo
+Gazebo is a simulation environment in which robot motions and systems can be tested virtually. In our case, the Franka Emika Panda robot arm will be simulated within Gazebo. Since not everyone always has the Panda robot arm available, we have created our tutorial for the Gazebo simulator. Nevertheless, you can of course also follow the tutorial with the real robot.
+
+### Docker
+Docker is a containerization platform that allows you to package the tutorial’s applications and dependencies into lightweight, portable containers. It enables cross-platform accessibility, although certain features may require Linux.
+
+# Getting Started
+
+If you have built and run the Docker environment correctly, you should end up in a folder with a [GETTING_STARTED.md](GETTING_STARTED.md) file. This file describes exactly how to start the tutorial from there. There is also a FAQ below with the most frequently asked questions about the project. In case you want to further develop the tutorial yourself, for example by adding new tasks, we have a `developer_docs` folder where you can find all the important information.
\ No newline at end of file