diff --git a/scripts/VCDI/Dockerfile b/scripts/VCDI/Dockerfile
new file mode 100644
index 00000000..86d96d35
--- /dev/null
+++ b/scripts/VCDI/Dockerfile
@@ -0,0 +1,45 @@
+FROM python:3.11-slim
+
+RUN apt-get update && apt-get install -y \
+    git \
+    curl \
+    build-essential \
+    gnupg \
+    && rm -rf /var/lib/apt/lists/*
+
+
+RUN curl -fsSL https://deb.nodesource.com/setup_18.x | bash - && \
+    apt-get update && apt-get install -y nodejs
+
+
+WORKDIR /app
+
+
+ARG BRANCH=master
+
+RUN git clone --branch ${BRANCH} --single-branch https://github.com/JdeRobot/VisualCircuit.git
+
+
+
+WORKDIR /app/VisualCircuit/frontend
+RUN npm install --legacy-peer-deps
+
+
+WORKDIR /app/VisualCircuit/backend
+RUN pip install --upgrade pip && pip install -r requirements.txt
+
+RUN echo "DJANGO_DEBUG=true" >> /app/VisualCircuit/backend/.env && \
+    echo "VISUAL_CIRCUIT_FRONTEND_HOST='http://localhost:4000'" >> /app/VisualCircuit/backend/.env && \
+    echo "DJANGO_ALLOWED_HOSTS=localhost,127.0.0.1" >> /app/VisualCircuit/backend/.env && \
+    echo "DJANGO_SECRET_KEY=xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx" >> /app/VisualCircuit/backend/.env
+
+# Collect static files
+RUN python manage.py collectstatic 
+
+WORKDIR /app/VisualCircuit
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+EXPOSE 4000 8080
+ENTRYPOINT ["/entrypoint.sh"]
+
diff --git a/scripts/VCDI/entrypoint.sh b/scripts/VCDI/entrypoint.sh
new file mode 100644
index 00000000..7ad86968
--- /dev/null
+++ b/scripts/VCDI/entrypoint.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+set -e
+
+echo "Starting backend server on port 8080..."
+cd /app/VisualCircuit/backend
+python3 manage.py migrate || true
+python3 manage.py runserver 0.0.0.0:8080 &
+
+echo "Starting frontend server on port 4000..."
+cd /app/VisualCircuit/frontend
+npm start
diff --git a/scripts/VCDI_with_RI/Dockerfile.dependencies_humble b/scripts/VCDI_with_RI/Dockerfile.dependencies_humble
new file mode 100644
index 00000000..24da5d1a
--- /dev/null
+++ b/scripts/VCDI_with_RI/Dockerfile.dependencies_humble
@@ -0,0 +1,318 @@
+FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu22.04
+
+# Make all NVIDIA GPUS visible
+ARG NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+ENV VIRTUALGL_VERSION=3.0.2
+ENV TURBOVNC_VERSION=3.0.3
+
+# Setup NON INTERACTIVE ENVIRONMENT
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install locales to prevent errors
+RUN apt-get clean && \
+    apt-get update && \
+    apt-get install --no-install-recommends -y locales && \
+    rm -rf /var/lib/apt/lists/* && \
+    locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV ROS_DISTRO=humble
+ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
+ENV COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
+ENV LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/${ROS_DISTRO}/opt/rviz_ogre_vendor/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:/opt/ros/${ROS_DISTRO}/lib:/usr/share/gazebo/../../lib/x86_64-linux-gnu/gazebo-11/plugins:
+ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
+ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python3.10/site-packages
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_VERSION=2
+
+# Install common tools
+RUN apt-get update && apt-get install -y \
+  software-properties-common \
+  bash-completion \
+  apt-utils \
+  build-essential \
+  git curl wget cmake \
+  nano vim \
+  gnupg \
+  lsb-release \
+  sudo \
+  net-tools \
+  pciutils \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2 and ROS packages
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+  && apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-ros-base \
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-joint-state-publisher \
+    ros-${ROS_DISTRO}-rviz2 \
+    python3-colcon-common-extensions \
+    python3-pip python3-rosdep python3-vcstool \
+    python3-argcomplete \
+  && rosdep init \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install Gazebo 11
+RUN add-apt-repository ppa:openrobotics/gazebo11-gz-cli
+RUN apt-get update && apt-get install -y \
+        gazebo11 \
+        ros-humble-gazebo-ros-pkgs \
+        gstreamer1.0-plugins-bad \
+        gstreamer1.0-plugins-good \
+        gstreamer1.0-plugins-ugly \
+        gstreamer1.0-libav \
+        libgstreamer-plugins-base1.0-dev \
+        libimage-exiftool-perl \
+    && apt-get -y autoremove \
+    && apt-get clean autoclean \
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+RUN mkdir ~/.gazebo && touch ~/.gazebo/gui.ini
+
+# Install Gazebo Harmonic
+RUN apt-get update \
+  && wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+  && apt-get update && apt-get install -y -q \
+      gz-harmonic \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install -y \
+      ros-humble-ros-gzharmonic \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install VNC
+# Xorg segfault error mitigation
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    dbus-x11 \
+    libdbus-c++-1-0v5 \
+    xvfb xauth xfonts-base xkb-data x11-xkb-utils \
+    x11vnc \
+    xterm \
+    xserver-xorg-video-dummy \
+    x11-apps \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+  && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+RUN wget https://xpra.org/xorg.conf \
+  && rm -rf /tmp/*
+
+# Install noVNC and websockify
+RUN git clone -b v1.4.0 https://github.com/novnc/noVNC.git
+RUN cd /noVNC/utils && git clone -b v0.11.0 https://github.com/novnc/websockify.git
+
+# VirtualGL and TurboVNC
+COPY ./gpu/virtualgl_${VIRTUALGL_VERSION}_amd64.deb ./gpu/virtualgl32_${VIRTUALGL_VERSION}_amd64.deb ./gpu/turbovnc_${TURBOVNC_VERSION}_amd64.deb /
+
+RUN dpkg --add-architecture i386 && apt-get update && apt-get install -y \
+    libxtst6:i386 \
+    libxv1:i386 \
+    libglu1-mesa:i386 \
+    libegl1-mesa:i386 \
+    libegl1-mesa:amd64
+
+RUN apt-get update && dpkg -i /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
+  && rm /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
+  && chmod u+s /usr/lib/libvglfaker.so \
+  && chmod u+s /usr/lib/libdlfaker.so \
+  && chmod u+s /usr/lib32/libvglfaker.so \
+  && chmod u+s /usr/lib32/libdlfaker.so \
+  && chmod u+s /usr/lib/i386-linux-gnu/libvglfaker.so \
+  && chmod u+s /usr/lib/i386-linux-gnu/libdlfaker.so \
+  && apt-get update && apt-get install -y --no-install-recommends \
+    /turbovnc_${TURBOVNC_VERSION}_amd64.deb \
+  && rm turbovnc_${TURBOVNC_VERSION}_amd64.deb \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && \
+  apt-get install -y lxde-common && \
+  rm -rf /var/lib/apt/lists/*
+
+ENV PATH="$PATH:/opt/VirtualGL/bin:/opt/TurboVNC/bin"
+
+# Node
+RUN curl -sL https://deb.nodesource.com/setup_20.x | bash - \
+  && apt-get install -y nodejs \
+  && npm install -g yarn
+
+# Install Python 3 pip build dependencies first
+RUN python3.10 -m pip install --upgrade pip==23.3.1 wheel==0.41.3 setuptools==69.0.2 selenium
+
+# pip install dependencies
+RUN python3.10 -m pip install \
+    pylint==3.3.1 transitions==0.9.0 pydantic==2.4.2 websocket-client==1.5.2 \
+    argparse==1.4.0 coverage==6.2 cerberus==1.3.4 empy==3.3.4 jinja2==3.0.3 kconfiglib==14.1.0 \
+    matplotlib==3.0.* numpy==1.24.3 nunavut==1.1.0 packaging==21.3 pkgconfig==1.5.5 pyros-genmsg==0.5.8 \
+    pyulog==1.0.1 pyyaml==5.4.1 requests==2.31.0 serial==0.0.97 six==1.16.0 toml==0.10.2 psutil==5.9.0 \
+    onnxruntime==1.15.0 Pillow==9.0.1 opencv-python==4.5.5.64 netron seaborn==0.11.2 watchdog==2.1.5 utm==0.7.0 psycopg2 jedi pyapriltags
+
+# monaco editor
+RUN python3.10 -m pip install black==24.10.0
+
+# websocket server dependency
+RUN python3.10 -m pip install websocket_server==0.6.4 posix-ipc==1.1.1 django==4.1.7 djangorestframework==3.13.1 \
+    django-webpack-loader==1.5.0 django-cors-headers==3.14.0 websockets==11.0.3 asyncio==3.4.3
+
+
+## Aerostack2
+WORKDIR /root/
+
+RUN apt-get update && \
+    apt-get install apt-utils -y \
+        software-properties-common \
+        git \
+        tmux \
+        tmuxinator \
+        python3-rosdep \
+        python3-pip \
+        python3-colcon-common-extensions \
+        python3-colcon-mixin \
+        python-is-python3 \
+        ros-dev-tools \
+        python3-flake8 \
+        python3-flake8-builtins  \
+        python3-flake8-comprehensions \
+        python3-flake8-docstrings \
+        python3-flake8-import-order \
+        python3-flake8-quotes \
+        cppcheck \
+        lcov \
+        lsb-release \
+        wget \
+        gnupg \
+    && rm -rf /var/lib/apt/lists/* 
+
+RUN pip3 install \
+        pylint \
+        flake8==4.0.1 \
+        pycodestyle==2.8 \
+        cmakelint \
+        cpplint \
+        colcon-lcov-result \
+        PySimpleGUI-4-foss
+
+RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+RUN colcon mixin update default
+RUN rm -rf log 
+# remove log folder
+RUN mkdir -p /home/drones_ws/src/
+WORKDIR /home/drones_ws/src/
+RUN git clone https://github.com/aerostack2/aerostack2.git -b robotics-academy-fix
+RUN touch aerostack2/as2_hardware_drivers/COLCON_IGNORE
+RUN touch aerostack2/as2_behavior_tree/COLCON_IGNORE
+RUN touch aerostack2/as2_map_server/COLCON_IGNORE
+RUN touch aerostack2/as2_behaviors/as2_behaviors_path_planning/COLCON_IGNORE
+RUN touch aerostack2/as2_utilities/as2_geozones/COLCON_IGNORE
+RUN touch aerostack2/as2_user_interfaces/as2_visualization/as2_rviz_plugins/COLCON_IGNORE
+
+WORKDIR /home/drones_ws/
+
+RUN apt-get update && \
+    apt-get install -y \
+        libbenchmark-dev \
+        libeigen3-dev \
+        libgeographic-dev \
+        libncurses-dev \
+        libyaml-cpp-dev \
+        pybind11-dev \
+        python3-jinja2 \
+        python3-pydantic \
+        python3-pymap3d \
+        python3-pytest \
+        ros-humble-action-msgs \
+        ros-humble-ament-cmake \
+        ros-humble-ament-cmake-gtest \
+        ros-humble-ament-cmake-lint-cmake \
+        ros-humble-ament-cmake-pytest \
+        ros-humble-ament-cmake-python \
+        ros-humble-ament-cmake-xmllint \
+        ros-humble-ament-copyright \
+        ros-humble-ament-flake8 \
+        ros-humble-ament-index-cpp \
+        ros-humble-ament-lint-auto \
+        ros-humble-ament-lint-common \
+        ros-humble-ament-pep257 \
+        ros-humble-backward-ros \
+        ros-humble-builtin-interfaces \
+        ros-humble-cv-bridge \
+        ros-humble-geographic-msgs \
+        ros-humble-geometry-msgs \
+        ros-humble-image-transport \
+        ros-humble-mocap4r2-msgs \
+        ros-humble-nav-msgs \
+        ros-humble-pluginlib \
+        ros-humble-rclcpp \
+        ros-humble-rclcpp-action \
+        ros-humble-rclcpp-components \
+        ros-humble-rclcpp-lifecycle \
+        ros-humble-rclpy \
+        ros-humble-robot-state-publisher \
+        ros-humble-rosidl-default-generators \
+        ros-humble-rosidl-default-runtime \
+        ros-humble-rviz2 \
+        ros-humble-sdformat-urdf \
+        ros-humble-sensor-msgs \
+        ros-humble-std-msgs \
+        ros-humble-std-srvs \
+        ros-humble-tf2 \
+        ros-humble-tf2-geometry-msgs \
+        ros-humble-tf2-msgs \
+        ros-humble-tf2-ros \
+        ros-humble-trajectory-msgs \
+        ros-humble-visualization-msgs \
+        ros-humble-moveit \
+        ros-humble-ros2-control \
+        ros-humble-ros2-controllers \
+        ros-humble-gripper-controllers \
+        ros-humble-rmw-cyclonedds-cpp \
+        ros-humble-ur \
+        ros-humble-ros-testing \
+        libpoco-dev \
+      && rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Install CycloneDDS RMW for ROS 2 Humble to fix cycle time issues in humble-moveit (temporary fix)    
+RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
+
+# Instalation for industrial robots
+
+RUN mkdir -p /home/industrial_ws/src/ABBDriver
+WORKDIR /home/industrial_ws/src/ABBDriver
+RUN git clone https://github.com/PickNikRobotics/abb_ros2.git -b rolling
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && rosdep update
+RUN vcs import < abb_ros2/abb.repos
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
+WORKDIR /home/industrial_ws/src
+RUN git clone https://github.com/ros-controls/gazebo_ros2_control.git
+RUN cd gazebo_ros2_control && git reset --hard 9a3736c # Commit for the 0.4.6 version!
+RUN git clone https://github.com/IFRA-Cranfield/IFRA_LinkAttacher.git
+RUN git clone https://github.com/IFRA-Cranfield/IFRA_ObjectPose.git
+RUN git clone https://github.com/IFRA-Cranfield/IFRA_LinkPose.git
+RUN git clone https://github.com/IFRA-Cranfield/ros2_RobotiqGripper.git
+# Forked needed in order to read the parameters from main launcher
+RUN git clone https://github.com/javizqh/ros2_SimRealRobotControl
+RUN sudo cp /home/industrial_ws/src/ros2_SimRealRobotControl/include/move_group_interface_improved.h /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h
+WORKDIR /home/industrial_ws
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Create workspace and add drone packages
+RUN echo "source /usr/share/gazebo/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+RUN echo 'export AEROSTACK2_PATH=/home/drones_ws/src/aerostack2' >> ~/.bashrc
+RUN echo 'source $AEROSTACK2_PATH/as2_cli/setup_env.bash' >> ~/.bashrc
+RUN echo "source /home/drones_ws/install/setup.bash" >> ~/.bashrc
+RUN echo "source /home/industrial_ws/install/setup.bash" >> ~/.bashrc
+
+# Download and install OMPL library
+COPY install-ompl-ubuntu.sh /
+WORKDIR /
+RUN chmod u+x install-ompl-ubuntu.sh
+RUN ./install-ompl-ubuntu.sh --github --python
\ No newline at end of file
diff --git a/scripts/VCDI_with_RI/Dockerfile.humble b/scripts/VCDI_with_RI/Dockerfile.humble
new file mode 100644
index 00000000..dec51660
--- /dev/null
+++ b/scripts/VCDI_with_RI/Dockerfile.humble
@@ -0,0 +1,72 @@
+FROM jderobot/robotics-applications:dependencies-humble
+
+WORKDIR /
+
+# RoboticsInfrasctructure Repository
+ARG ROBOTICS_INFRASTRUCTURE=$ROBOTICS_INFRASTRUCTURE
+RUN mkdir -p /opt/jderobot && \
+    git clone --depth 1 https://github.com/JdeRobot/RoboticsInfrastructure.git -b $ROBOTICS_INFRASTRUCTURE /opt/jderobot
+
+# create workspace and add Robot packages
+RUN mkdir -p /home/ws/src
+RUN mv /opt/jderobot/CustomRobots /opt/jderobot/jderobot_drones /home/ws/src/
+RUN mv /opt/jderobot/resources /resources
+
+ARG IMAGE_TAG
+ENV IMAGE_TAG=${IMAGE_TAG}
+
+# Clone the RoboticsApplicationManager repository into the src folder inside RoboticsAcademy
+ARG RAM=$RAM
+RUN git clone https://github.com/JdeRobot/RoboticsApplicationManager.git -b $RAM /RoboticsApplicationManager
+
+# copy scripts
+RUN mv -t / /opt/jderobot/scripts/.env  /opt/jderobot/scripts/entrypoint.sh /opt/jderobot/scripts/start_vnc.sh  /opt/jderobot/scripts/start_vnc_gpu.sh /opt/jderobot/scripts/kill_all.sh /opt/jderobot/scripts/test/check_device.py /opt/jderobot/scripts/set_dri_name.sh
+
+# give execution permissions
+WORKDIR /
+RUN chmod +x /start_vnc.sh /kill_all.sh /entrypoint.sh /start_vnc_gpu.sh /set_dri_name.sh
+
+# Bt-Studio
+ARG VISUAL_CIRCUIT=$VISUAL_CIRCUIT
+RUN git clone --depth 1 https://github.com/JdeRobot/VisualCircuit.git -b $VISUAL_CIRCUIT
+
+# Compiling and sourcing the workspace
+WORKDIR /home/ws
+RUN /bin/bash -c "source /home/drones_ws/install/setup.bash"
+RUN /bin/bash -c "source /home/industrial_ws/install/setup.bash"
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash; colcon build --symlink-install"
+
+WORKDIR /VisualCircuit/frontend
+RUN npm install --legacy-peer-deps
+
+
+WORKDIR /VisualCircuit/backend
+RUN pip install --upgrade pip && pip install -r requirements.txt
+
+RUN echo "DJANGO_DEBUG=true" >> /VisualCircuit/backend/.env && \
+    echo "VISUAL_CIRCUIT_FRONTEND_HOST='http://localhost:4000'" >> /VisualCircuit/backend/.env && \
+    echo "DJANGO_ALLOWED_HOSTS=localhost,127.0.0.1" >> /VisualCircuit/backend/.env && \
+    echo "DJANGO_SECRET_KEY=xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx" >> /VisualCircuit/backend/.env
+
+# Collect static files
+RUN python manage.py collectstatic 
+
+WORKDIR /VisualCircuit
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+# Django server
+EXPOSE 7164
+
+# Manager websocket
+EXPOSE 7163
+
+# noVNC Console
+EXPOSE 1108
+
+# noVNC Gazebo
+EXPOSE 6080
+
+EXPOSE 4000 8080
+
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/scripts/VCDI_with_RI/build.sh b/scripts/VCDI_with_RI/build.sh
new file mode 100755
index 00000000..561269aa
--- /dev/null
+++ b/scripts/VCDI_with_RI/build.sh
@@ -0,0 +1,124 @@
+#!/bin/bash
+
+# Default branch if not specified
+VISUAL_CIRCUIT="master"
+ROBOTICS_INFRASTRUCTURE="humble-devel"
+RAM="humble-devel"
+ROS_DISTRO="humble"
+IMAGE_TAG="latest"
+FORCE_BUILD=false
+FORCE_BUILD_NO_CACHE=false
+
+Help()
+{
+   # Display Help
+   echo "Syntax: build.sh [options]"
+   echo "Options:"
+   echo "  -h                        Print this Help."
+   echo "  -f                        Force creation of the base image. If omitted, the base image is created only if "
+   echo "                            it doesn't exist."
+   echo "  -F                        Force creation of the base image without using docker cache."
+   echo "  -vc,--visual-circuit  <value>  Branch of Visual Circuit.                     Default: master"
+   echo "  -i, --infra      <value>  Branch of RoboticsInfrastructure.        Default: humble-devel"
+   echo "  -m, --ram        <value>  Branch of RoboticsApplicationManager.    Default: humble-devel"
+   echo "  -r, --ros        <value>  ROS Distro (humble or noetic).           Default: humble"
+   echo "  -t, --tag        <value>  Tag name of the image.                   Default: test"
+   echo
+   echo "Example:"
+   echo "   ./build.sh -t my_image"
+   echo "   ./build.sh -f -a master -i noetic-devel -m main -r noetic -t my_image" 
+   echo "   ./build.sh -f --academy master --infra noetic-devel --ram main --ros noetic --tag my_image" 
+   echo
+}
+
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        -vc | --visual-circuit) 
+            VISUAL_CIRCUIT="$2"
+            shift 2
+            ;;
+        -i | --infra)
+            ROBOTICS_INFRASTRUCTURE="$2"
+            shift 2
+            ;;
+        -m | --ram)
+            RAM="$2"
+            shift 2
+            ;;
+        -r | --ros)
+            ROS_DISTRO="$2"
+            shift 2
+            ;;
+        -t | --tag)
+            IMAGE_TAG="$2"
+            shift 2
+            ;;
+        -f | --force)
+            FORCE_BUILD=true
+            shift
+            ;;
+        -F | --force-no-cache)
+            FORCE_BUILD_NO_CACHE=true
+            shift
+            ;;
+        -h | --help) # display Help
+            echo "Generates Visual Circuit image"
+            echo
+            Help
+            exit 0
+            ;;
+        *)
+            echo "Invalid Option: $1"
+            Help
+            exit 1
+            ;;
+   esac
+done
+
+echo "VISUAL_CIRCUIT:-------------:$VISUAL_CIRCUIT"
+echo "ROBOTICS_INFRASTRUCTURE:------:$ROBOTICS_INFRASTRUCTURE"
+echo "RAM:--------------------------:$RAM"
+echo "ROS_DISTRO:-------------------:$ROS_DISTRO"
+echo "IMAGE_TAG:--------------------:$IMAGE_TAG"
+echo
+
+# Determine Dockerfile based on ROS_DISTRO
+if [[ $ROS_DISTRO == "humble" ]]; then
+    DOCKERFILE_BASE="Dockerfile.dependencies_humble"
+    DOCKERFILE="Dockerfile.humble"
+else
+    echo "Error: Unknown ROS_DISTRO ($ROS_DISTRO). Please set it to 'noetic' or 'humble'."
+    exit 1
+fi
+
+if $FORCE_BUILD_NO_CACHE; then
+  NO_CACHE="--no-cache"
+else
+  NO_CACHE=""
+fi
+
+# Build the Docker Base image
+if $FORCE_BUILD_NO_CACHE || $FORCE_BUILD || [[ "$(docker images -q jderobot/robotics-applications:dependencies-$ROS_DISTRO 2> /dev/null)" == "" ]]; then
+  echo "===================== BUILDING $ROS_DISTRO BASE IMAGE ====================="
+  echo "Building base using $DOCKERFILE_BASE for ROS $ROS_DISTRO"
+  docker build $NO_CACHE -f $DOCKERFILE_BASE -t jderobot/robotics-applications:dependencies-$ROS_DISTRO .
+fi
+
+if [ $? -eq 0 ]; then
+    echo "Docker Base Image Build Successful"
+else
+    echo "Docker Base Image Build FAILED...exiting"
+    exit
+fi
+
+# Build the Docker image
+echo "===================== BUILDING $ROS_DISTRO RoboticsBackend ====================="
+echo "Building RoboticsBackend using $DOCKERFILE for ROS $ROS_DISTRO"
+
+docker build --no-cache -f $DOCKERFILE \
+  --build-arg VISUAL_CIRCUIT=$VISUAL_CIRCUIT \
+  --build-arg ROBOTICS_INFRASTRUCTURE=$ROBOTICS_INFRASTRUCTURE \
+  --build-arg RAM=$RAM \
+  --build-arg ROS_DISTRO=$ROS_DISTRO \
+  --build-arg IMAGE_TAG=$IMAGE_TAG \
+  -t jderobot/visual-circuit:$IMAGE_TAG .
\ No newline at end of file
diff --git a/scripts/VCDI_with_RI/entrypoint.sh b/scripts/VCDI_with_RI/entrypoint.sh
new file mode 100644
index 00000000..2e8eccc2
--- /dev/null
+++ b/scripts/VCDI_with_RI/entrypoint.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+set -e
+
+echo "Starting backend server on port 8080..."
+cd /VisualCircuit/backend
+python3 manage.py migrate || true
+python3 manage.py runserver 0.0.0.0:8080 &
+
+echo "Starting frontend server on port 4000..."
+cd /VisualCircuit/frontend
+npm start
diff --git a/scripts/VCDI_with_RI/gpu/turbovnc_3.0.3_amd64.deb b/scripts/VCDI_with_RI/gpu/turbovnc_3.0.3_amd64.deb
new file mode 100755
index 00000000..579a8f3b
Binary files /dev/null and b/scripts/VCDI_with_RI/gpu/turbovnc_3.0.3_amd64.deb differ
diff --git a/scripts/VCDI_with_RI/gpu/virtualgl32_3.0.2_amd64.deb b/scripts/VCDI_with_RI/gpu/virtualgl32_3.0.2_amd64.deb
new file mode 100755
index 00000000..44094705
Binary files /dev/null and b/scripts/VCDI_with_RI/gpu/virtualgl32_3.0.2_amd64.deb differ
diff --git a/scripts/VCDI_with_RI/gpu/virtualgl_3.0.2_amd64.deb b/scripts/VCDI_with_RI/gpu/virtualgl_3.0.2_amd64.deb
new file mode 100755
index 00000000..06f6f2b9
Binary files /dev/null and b/scripts/VCDI_with_RI/gpu/virtualgl_3.0.2_amd64.deb differ
diff --git a/scripts/VCDI_with_RI/install-ompl-ubuntu.sh b/scripts/VCDI_with_RI/install-ompl-ubuntu.sh
new file mode 100644
index 00000000..7da8f8fe
--- /dev/null
+++ b/scripts/VCDI_with_RI/install-ompl-ubuntu.sh
@@ -0,0 +1,141 @@
+#!/bin/bash
+
+set -e
+
+if [ `id -u` == 0 ]; then
+    SUDO=
+    export DEBIAN_FRONTEND=noninteractive
+    apt-get -y install lsb-release
+else
+    SUDO="sudo -H"
+fi
+
+ubuntu_version=`lsb_release -rs | sed 's/\.//'`
+
+install_common_dependencies()
+{
+    # install most dependencies via apt-get
+    ${SUDO} apt-get -y update
+    ${SUDO} apt-get -y upgrade
+    # We explicitly set the C++ compiler to g++, the default GNU g++ compiler. This is
+    # needed because we depend on system-installed libraries built with g++ and linked
+    # against libstdc++. In case `c++` corresponds to `clang++`, code will not build, even
+    # if we would pass the flag `-stdlib=libstdc++` to `clang++`.
+    ${SUDO} apt-get -y install g++ cmake pkg-config libboost-serialization-dev libboost-filesystem-dev libboost-system-dev libboost-program-options-dev libboost-test-dev libeigen3-dev libode-dev wget libyaml-cpp-dev
+    export CXX=g++
+    export MAKEFLAGS="-j `nproc`"
+}
+
+install_python_binding_dependencies()
+{
+    ${SUDO} apt-get -y install python${PYTHONV}-dev python${PYTHONV}-pip
+    # install additional python dependencies via pip
+    ${SUDO} pip${PYTHONV} install -vU https://github.com/CastXML/pygccxml/archive/develop.zip pyplusplus
+    # install castxml
+    if [[ $ubuntu_version > 1910 ]]; then
+        ${SUDO} apt-get -y install castxml
+    else
+        wget -q -O- https://data.kitware.com/api/v1/file/5e8b740d2660cbefba944189/download | tar zxf - -C ${HOME}
+        export PATH=${HOME}/castxml/bin:${PATH}
+    fi
+    ${SUDO} apt-get -y install libboost-python-dev
+    if [[ $ubuntu_version > 1710 ]]; then
+        ${SUDO} apt-get -y install libboost-numpy-dev python${PYTHONV}-numpy
+    fi
+    if [[ $ubuntu_version > 1904 ]]; then
+        ${SUDO} apt-get -y install pypy3
+    fi
+}
+
+install_app_dependencies()
+{
+    ${SUDO} apt-get -y install python${PYTHONV}-pyqt5.qtopengl freeglut3-dev libassimp-dev python${PYTHONV}-opengl python${PYTHONV}-flask python${PYTHONV}-celery libccd-dev
+    # install additional python dependencies via pip
+    ${SUDO} pip${PYTHONV} install -vU PyOpenGL-accelerate
+    # install fcl
+    if ! pkg-config --atleast-version=0.5.0 fcl; then
+        if [[ $ubuntu_version > 1604 ]]; then
+            ${SUDO} apt-get -y install libfcl-dev
+        else
+            wget -O - https://github.com/flexible-collision-library/fcl/archive/0.6.1.tar.gz | tar zxf -
+            cd fcl-0.6.1; cmake .; ${SUDO} -E make install; cd ..
+        fi
+    fi
+}
+
+install_ompl()
+{
+    if [ -z $APP ]; then
+        OMPL="ompl"
+    else
+        OMPL="omplapp"
+    fi
+    if [ -z $GITHUB ]; then
+        if [ -z $APP]; then
+            wget -O - https://github.com/ompl/${OMPL}/archive/1.6.0.tar.gz | tar zxf -
+            cd ${OMPL}-1.6.0
+        else
+            wget -O - https://github.com/ompl/${OMPL}/releases/download/1.6.0/${OMPL}-1.6.0-Source.tar.gz | tar zxf -
+            cd $OMPL-1.6.0-Source
+        fi
+    else
+        ${SUDO} apt-get -y install git
+        git clone --recurse-submodules https://github.com/ompl/${OMPL}.git
+        cd $OMPL
+    fi
+    mkdir -p build/Release
+    cd build/Release
+    cmake ../.. -DPYTHON_EXEC=/usr/bin/python${PYTHONV}
+    if [ ! -z $PYTHON ]; then
+        # Check if the total memory is less than 6GB.
+        if [ `cat /proc/meminfo | head -1 | awk '{print $2}'` -lt 6291456 ]; then
+            echo "Python binding generation is very memory intensive. At least 6GB of RAM is recommended."
+            echo "Proceeding with binding generation using 1 core..."
+            make -j 1 update_bindings
+        else
+            make update_bindings
+        fi
+    fi
+    make
+    ${SUDO} make install
+}
+
+for i in "$@"
+do
+case $i in
+    -a|--app)
+        APP=1
+        PYTHON=1
+        shift
+        ;;
+    -p|--python)
+        PYTHON=1
+        shift
+        ;;
+    -g|--github)
+        GITHUB=1
+        shift
+        ;;
+    *)
+        # unknown option -> show help
+        echo "Usage: `basename $0` [-p] [-a]"
+        echo "  -p: enable Python bindings"
+        echo "  -a: enable OMPL.app (implies '-p')"
+        echo "  -g: install latest commit from main branch on GitHub"
+    ;;
+esac
+done
+
+# the default version of Python in 17.10 and above is version 3
+if [[ $ubuntu_version > 1704 ]]; then
+    PYTHONV=3
+fi
+
+install_common_dependencies
+if [ ! -z $PYTHON ]; then
+    install_python_binding_dependencies
+fi
+if [ ! -z $APP ]; then
+    install_app_dependencies
+fi
+install_ompl
\ No newline at end of file