diff --git a/.gitignore b/.gitignore
index c433285..ba9d174 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,5 @@
 src/dataset/data/*
 src/dataset/nclt
 !src/dataset/data/*.py
+
+__pycache__
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..84d99ee
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,67 @@
+FROM python:3
+
+RUN apt-get update && \
+    apt-get install -y \
+        build-essential \
+        python-dev \
+        python-pip \
+        libpython2.7-dev \
+        python3-dev \
+        python3-pip \
+        python-tk \
+        libgl1-mesa-glx \
+        git \
+        cmake
+
+RUN pip2 install --upgrade pip && \
+    pip2 install \
+        numpy \
+        matplotlib \
+        open3d-python \
+        progressbar2 \
+        pyquaternion \
+        transforms3d \
+        scipy \
+        scikit-image \
+        networkx \
+        psutil \
+        torch \
+        future
+
+RUN mkdir /app
+
+# Catch2
+RUN cd /app && \
+    git clone https://github.com/catchorg/Catch2.git && \
+    mkdir -p /app/Catch2/build && \
+    cd /app/Catch2/build && \
+    cmake .. && \
+    make -j8 && \
+    make install
+
+RUN python3.8 -m pip install pytest
+
+# pybind11
+RUN cd /app && \
+    git clone https://github.com/pybind/pybind11.git && \
+    mkdir -p /app/pybind11/build && \
+    cd /app/pybind11/build && \
+    cmake .. && \
+    make -j8 && \
+    make install
+
+# ray tracing
+RUN cd /app && \
+    git clone https://github.com/acschaefer/ray_tracing.git && \
+    mkdir -p /app/ray_tracing/build && \
+    cd /app/ray_tracing/build && \
+    cmake .. && \
+    make -j8 && \
+    make install
+
+RUN pip2 uninstall -y backports.functools-lru-cache && \
+    apt-get install python-backports.functools-lru-cache
+
+ENV PYTHONPATH=$PYTHONPATH:/app/ray_tracing/python
+
+CMD ["/bin/bash"]
diff --git a/src/docker-compose.yml b/docker/docker-compose.yml
similarity index 54%
rename from src/docker-compose.yml
rename to docker/docker-compose.yml
index 080e6d8..fcd3836 100644
--- a/src/docker-compose.yml
+++ b/docker/docker-compose.yml
@@ -9,14 +9,15 @@ services:
     python-dev:
         # Use Dockerfile in current folder
         build: .
-        # Mount ros-dev folder on host to app folder in container
+        # Mount folders on host to app folder in container
         volumes:
-            - ./control:/app/control
-            - ./dataset:/app/dataset
-            - ./localization:/app/localization
-            - ./planning:/app/planning
-            - ./semantic:/app/semantic
-            - ./visualization:/app/visualization
+            - ../src/control:/app/control
+            - ../src/dataset:/app/dataset
+            - ../src/localization:/app/localization
+            - ../src/planning:/app/planning
+            - ../src/semantic:/app/semantic
+            - ../src/visualization:/app/visualization
+            - ../src/polex:/app/polex
         # Set DISPLAY variable and network mode for GUIs
         environment:
             - DISPLAY=${IP_ADDRESS}:0.0
diff --git a/src/Dockerfile b/src/Dockerfile
deleted file mode 100644
index 1139682..0000000
--- a/src/Dockerfile
+++ /dev/null
@@ -1,19 +0,0 @@
-FROM python:3
-
-RUN apt-get update && \
-    apt-get install -y \
-        build-essential \
-        python-opencv \
-        libpcl-dev
-
-RUN pip install -U pip && \
-    pip install -U \
-        cython \
-        numpy \
-        scipy \
-        matplotlib \
-        nltk \
-        setuptools \
-        pylint
-
-CMD ["/bin/bash"]
diff --git a/src/dataset/downloader.py b/src/dataset/data/downloader.py
similarity index 100%
rename from src/dataset/downloader.py
rename to src/dataset/data/downloader.py
diff --git a/utils/config.xlaunch b/utils/config.xlaunch
new file mode 100644
index 0000000..f9fd57e
--- /dev/null
+++ b/utils/config.xlaunch
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<XLaunch WindowMode="MultiWindow" ClientMode="NoClient" LocalClient="False" Display="-1" LocalProgram="xcalc" RemoteProgram="xterm" RemotePassword="" PrivateKey="" RemoteHost="" RemoteUser="" XDMCPHost="" XDMCPBroadcast="False" XDMCPIndirect="False" Clipboard="True" ClipboardPrimary="True" ExtraParams="" Wgl="False" DisableAC="True" XDMCPTerminate="False"/>