diff --git a/Dockerfile b/Dockerfile
index de7c4af..3b29d01 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,9 +1,9 @@
 # Use ROS 2 Humble Hawksbill base image
-FROM osrf/ros:humble-desktop-full
+FROM osrf/ros:humble-desktop-full-jammy
 
 # Update and install dependencies
 RUN apt-get update && apt-get install -y \
-    python3-colcon-common-extensions \
+    python3-colcon-common-extensions python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
 COPY requirements.txt ./
@@ -13,7 +13,7 @@ RUN pip install --no-cache-dir -r requirements.txt
 WORKDIR /ros2_ws
 
 # Copy your ROS 2 package into the workspace
-COPY ./ros2_ws/src /ros2_ws/src
+COPY ./src /ros2_ws/src
 
 # Build your package
 RUN . /opt/ros/humble/setup.sh && \
diff --git a/README.md b/README.md
index e69de29..5906c34 100644
--- a/README.md
+++ b/README.md
@@ -0,0 +1,78 @@
+# Interactive Robot Learning Framework
+
+Welcome to the Interactive Robot Learning Framework, a modular and extensible system designed for robotics research and development. This framework utilizes Docker and ROS2 to provide a flexible and isolated environment for experimenting with robot learning algorithms, interaction metrics, objective functions, representation models, benchmark environments, and communication messages.
+
+## Getting Started
+
+This section will guide you through the process of setting up the Docker container for the framework. [Final startup instructions will be provided by the user.]
+
+### Prerequisites
+
+- Docker
+- ROS2 Foxy Fitzroy (or your target ROS2 distribution)
+
+### Installation
+
+1. Clone the repository:
+```bash
+git clone [repository-url]
+cd [repository-name]
+```
+2. Build the Docker container:
+```bash
+docker build -t interactive-robot-learning-framework .
+```
+3. Launch the Docker container using docker-compose:
+```bash
+docker-compose up -d
+```
+
+## Framework Structure
+
+The Interactive Robot Learning Framework consists of several key ROS2 packages, each responsible for different aspects of robot learning and interaction. Below is an overview of each package:
+
+### Optimizer ROS2 Package
+
+- **Description**: Contains various optimization algorithms designed to fine-tune robot learning parameters.
+- **Key Components**: Gradient descent, genetic algorithms, simulated annealing, etc.
+
+### InteractionQuery Package
+
+- **Description**: Implements metrics to quantify and analyze user interactions with the optimizer, facilitating adaptive learning processes.
+- **Key Components**: Engagement level, feedback quality, interaction frequency, etc.
+
+### ObjectiveFunctions Package
+
+- **Description**: Houses the objective functions used by optimizers to evaluate the performance of robot learning tasks.
+- **Key Components**: Loss functions, reward functions, etc.
+
+### RepresentationModel Package
+
+- **Description**: Provides models for representing robot trajectories in a manner conducive to learning and optimization.
+- **Key Components**: Graphical models, neural networks, geometric representations, etc.
+
+### Benchmark Package
+
+- **Description**: Includes various reinforcement learning (RL) benchmark environments for testing and evaluating learning algorithms.
+- **Key Components**: Simulated robotics tasks, navigation challenges, manipulation tasks, etc.
+
+### InteractionMsgs Package
+
+- **Description**: Contains all necessary ROS2 messages, services, and actions for facilitating communication within the framework.
+- **Key Components**: Custom message definitions, service calls for optimizer control, action definitions for task execution, etc.
+
+## Starting Up
+
+[This section will be completed by the user, detailing the steps to initialize the framework and begin experiments.]
+
+## Contributing
+
+We welcome contributions to the Interactive Robot Learning Framework! Please read our contributing guidelines for more information on how to participate in the development.
+
+## License
+
+[Specify the license under which the framework is released, e.g., MIT, GPL, Apache.]
+
+## Acknowledgments
+
+[Optional: Acknowledge any contributions, inspirations, or frameworks that assisted in the development of this project.]
diff --git a/docker-compose.yaml b/docker-compose.yaml
index c750c7c..2789079 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -1,9 +1,9 @@
 version: '3.8'
 services:
   ros2:
-    build: ..
+    build: .
     volumes:
-      - ./ros2_ws/src:/ros2_ws/src
+      - ./src:/ros2_ws/src
     networks:
       - ros_network
     tty: true
diff --git a/requirements.txt b/requirements.txt
index 2c04913..e69de29 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1 +0,0 @@
-numpy==1.26.4
diff --git a/src/InteractionMetrics/InteractionMetrics/MaxAcquisition.py b/src/InteractionMetrics/InteractionMetrics/MaxAcquisition.py
deleted file mode 100644
index 90dbd47..0000000
--- a/src/InteractionMetrics/InteractionMetrics/MaxAcquisition.py
+++ /dev/null
@@ -1,55 +0,0 @@
-import numpy as np
-from scipy.stats import norm
-
-
-class MaxAcqQuery:
-    def __init__(self, threshold, gp,
-                 nr_test, nr_weights,
-                 lower=-1.0, upper=1.0,
-                 acq="Expected Improvement",
-                 **kwargs):
-        self.threshold = threshold
-        self.gp = gp
-        self.nr_test = nr_test
-        self.nr_weights = nr_weights
-        self.lower = lower
-        self.upper = upper
-        self.acq = acq
-
-        self.seed = kwargs.get('seed', None)
-        self.kappa = kwargs.get('kappa', 2.576)
-        self.beta = kwargs.get('beta', 1.2)
-        self.X = kwargs.get('X', None)
-
-        self.rng = np.random.default_rng(self.seed)
-
-    def query(self):
-        X_test = self.rng.uniform(self.lower, self.upper, (self.nr_test, self.nr_weights))
-        max_acq = 0
-
-        if self.acq == "Expected Improvement":
-            if self.X is None:
-                raise ValueError
-            y_hat = self.gp.predict(self.X)
-            best_y = max(y_hat)
-            mu, sigma = self.gp.predict(X_test, return_std=True)
-            z = (mu - best_y - self.kappa) / sigma
-            ei = (mu - best_y - self.kappa) * norm.cdf(z) + sigma * norm.pdf(z)
-            max_acq = np.max(ei)
-
-        if self.acq == "Probability of Improvement":
-            if self.X is None:
-                raise ValueError
-            y_hat = self.gp.predict(self.X)
-            best_y = max(y_hat)
-            mu, sigma = self.gp.predict(X_test, return_std=True)
-            z = (mu - best_y - self.kappa) / sigma
-            pi = norm.cdf(z)
-            max_acq = np.max(pi)
-
-        if self.acq == "Upper Confidence Bound":
-            mu, sigma = self.gp.predict(X_test, return_std=True)
-            cb = mu + self.beta * sigma
-            max_acq = np.max(cb)
-
-        return max_acq > self.threshold
diff --git a/src/InteractionMetrics/InteractionMetrics/__init__.py b/src/InteractionMetrics/InteractionMetrics/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/src/InteractionMetrics/package.xml b/src/InteractionMetrics/package.xml
deleted file mode 100644
index 97c540a..0000000
--- a/src/InteractionMetrics/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>InteractionMetrics</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
-  <license>TODO: License declaration</license>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>
diff --git a/src/InteractionMetrics/resource/InteractionMetrics b/src/InteractionMetrics/resource/InteractionMetrics
deleted file mode 100644
index e69de29..0000000
diff --git a/src/InteractionMetrics/setup.cfg b/src/InteractionMetrics/setup.cfg
deleted file mode 100644
index b01a7f8..0000000
--- a/src/InteractionMetrics/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/InteractionMetrics
-[install]
-install_scripts=$base/lib/InteractionMetrics
diff --git a/src/InteractionMetrics/setup.py b/src/InteractionMetrics/setup.py
deleted file mode 100644
index 64dcaad..0000000
--- a/src/InteractionMetrics/setup.py
+++ /dev/null
@@ -1,25 +0,0 @@
-from setuptools import find_packages, setup
-
-package_name = 'InteractionMetrics'
-
-setup(
-    name=package_name,
-    version='0.0.0',
-    packages=find_packages(exclude=['test']),
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='niko',
-    maintainer_email='nikolaus.feith@unileoben.ac.at',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-        ],
-    },
-)
diff --git a/src/InteractionMetrics/test/test_copyright.py b/src/InteractionMetrics/test/test_copyright.py
deleted file mode 100644
index 97a3919..0000000
--- a/src/InteractionMetrics/test/test_copyright.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
diff --git a/src/InteractionMetrics/test/test_flake8.py b/src/InteractionMetrics/test/test_flake8.py
deleted file mode 100644
index 27ee107..0000000
--- a/src/InteractionMetrics/test/test_flake8.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
diff --git a/src/InteractionMetrics/test/test_pep257.py b/src/InteractionMetrics/test/test_pep257.py
deleted file mode 100644
index b234a38..0000000
--- a/src/InteractionMetrics/test/test_pep257.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
diff --git a/src/InteractionMsgs/CMakeLists.txt b/src/InteractionMsgs/CMakeLists.txt
deleted file mode 100644
index f905a4d..0000000
--- a/src/InteractionMsgs/CMakeLists.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(InteractionMsgs)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/InteractionMetrics/InteractionMetrics/Improvement.py b/src/InteractionQuery/InteractionQuery/improvement.py
similarity index 100%
rename from src/InteractionMetrics/InteractionMetrics/Improvement.py
rename to src/InteractionQuery/InteractionQuery/improvement.py
diff --git a/src/InteractionQuery/InteractionQuery/query_node.py b/src/InteractionQuery/InteractionQuery/query_node.py
new file mode 100644
index 0000000..b18cde9
--- /dev/null
+++ b/src/InteractionQuery/InteractionQuery/query_node.py
@@ -0,0 +1,4 @@
+import rclpy
+from rclpy.node import Node
+
+from interaction_msgs.srv import Query
\ No newline at end of file
diff --git a/src/InteractionMetrics/InteractionMetrics/Random.py b/src/InteractionQuery/InteractionQuery/random.py
similarity index 98%
rename from src/InteractionMetrics/InteractionMetrics/Random.py
rename to src/InteractionQuery/InteractionQuery/random.py
index e53d125..8f8f8c8 100644
--- a/src/InteractionMetrics/InteractionMetrics/Random.py
+++ b/src/InteractionQuery/InteractionQuery/random.py
@@ -8,4 +8,3 @@ class RandomQuery:
 
     def query(self):
         return self.random > self.threshold
-    
\ No newline at end of file
diff --git a/src/InteractionMetrics/InteractionMetrics/Regular.py b/src/InteractionQuery/InteractionQuery/regular.py
similarity index 100%
rename from src/InteractionMetrics/InteractionMetrics/Regular.py
rename to src/InteractionQuery/InteractionQuery/regular.py
diff --git a/src/interaction_msgs/CMakeLists.txt b/src/interaction_msgs/CMakeLists.txt
new file mode 100644
index 0000000..84bd50e
--- /dev/null
+++ b/src/interaction_msgs/CMakeLists.txt
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.8)
+project(interaction_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+    "srv/Query.srv"
+    DEPENDENCIES
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/src/InteractionMsgs/package.xml b/src/interaction_msgs/package.xml
similarity index 73%
rename from src/InteractionMsgs/package.xml
rename to src/interaction_msgs/package.xml
index dbb8ddc..568d70d 100644
--- a/src/InteractionMsgs/package.xml
+++ b/src/interaction_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>InteractionMsgs</name>
+  <name>interaction_msgs</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
@@ -9,6 +9,11 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/src/interaction_msgs/srv/Query.srv b/src/interaction_msgs/srv/Query.srv
new file mode 100644
index 0000000..a543115
--- /dev/null
+++ b/src/interaction_msgs/srv/Query.srv
@@ -0,0 +1,15 @@
+# random query
+float32 threshold
+
+# regular query
+uint16 frequency
+uint16 current_episode
+
+# improvement query
+# float32 threshold
+uint16 period
+uint16 last_queried_episode
+float32[] rewards
+
+---
+bool interaction
\ No newline at end of file