diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 5f2d5641c31a28e01c2c15a2fe6e50e06e7cceab..cd325b82688843ffe65b41c86ec4e5cebe25b4d0 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,6 +1,6 @@
 FROM chillerrobot/ros-noetic-moveit-panda:first
 
-RUN apt-get install -y --no-install-recommends ros-noetic-rospy-message-converter
-RUN pip3 install future panda-robot
+#RUN apt-get install -y --no-install-recommends *add your installs here*
+#RUN pip3 install *add your packages here*
 
 RUN echo "source ./catkin_ws/devel/setup.bash" >> ~/.bashrc
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile_core b/.devcontainer/Dockerfile_core
index c6089d037d0d1de367716a4256a4c3f8707dc45f..7e5317f382f2fe589862c9732471cef98a0dbefa 100644
--- a/.devcontainer/Dockerfile_core
+++ b/.devcontainer/Dockerfile_core
@@ -4,7 +4,7 @@ FROM osrf/ros:noetic-desktop-full
 
 # [Optional] Uncomment this section to install additional OS packages.
 RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
-    && apt-get -y install --no-install-recommends ros-noetic-libfranka ros-noetic-franka-ros ros-noetic-moveit ros-noetic-effort-controllers git \
+    && apt-get -y install --no-install-recommends ros-noetic-libfranka ros-noetic-franka-ros ros-noetic-moveit ros-noetic-effort-controllers ros-noetic-rospy-message-converter git \
     build-essential python3-dev  \
     ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool python3-pip
 
@@ -15,7 +15,7 @@ RUN rosdep update
 RUN apt-get install -y --no-install-recommends ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool python3-pip
 
 RUN pip3 install future numpy numpy-quaternion==2020.5.11.13.33.35 \
-    pygame decorator matplotlib Pillow scipy scikit-learn osrf-pycommon
+    pygame decorator matplotlib Pillow scipy scikit-learn osrf-pycommon future panda-robot
 
 RUN mkdir -p ~/ws_moveit/src
 RUN cd ~/ws_moveit/src && wstool init . && wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && wstool remove  moveit_tutorials && wstool update -t .
diff --git a/catkin_ws/src/panda_robot b/catkin_ws/src/panda_robot
new file mode 160000
index 0000000000000000000000000000000000000000..323dc06dc6b2604f0eb5b305e74e696b6ac4dd4a
--- /dev/null
+++ b/catkin_ws/src/panda_robot
@@ -0,0 +1 @@
+Subproject commit 323dc06dc6b2604f0eb5b305e74e696b6ac4dd4a