diff --git a/script/werun b/script/werun
new file mode 100755
index 0000000000000000000000000000000000000000..ea5ff0cbc139efdc4b6c89570fd7423e3a95be84
--- /dev/null
+++ b/script/werun
@@ -0,0 +1,33 @@
+#!/bin/bash
+
+## using extern GPU
+
+if [[ $(lsb_release -rs) == "18.04" ]]; then
+docker run --gpus all \
+  --network host \
+  --security-opt apparmor:unconfined \
+  --ulimit nofile=1024 \
+  --ipc=host \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -v /tmp:/exttmp \
+  -e DISPLAY=unix${DISPLAY}\
+  -e ROS_HOSTNAME=localhost \
+  -e __NV_PRIME_RENDER_OFFLOAD_PROVIDER=NVIDIA-G1 \
+  -e __GLX_VENDOR_LIBRARY_NAME=nvidia \
+  --rm -it --name devenv gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-melodic:devel "$@"
+fi
+
+if [[ $(lsb_release -rs) == "20.04" ]]; then
+docker run --gpus all \
+  --network host \
+  --security-opt apparmor:unconfined \
+  --ulimit nofile=1024 \
+  --ipc=host \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -v /tmp:/exttmp \
+  -e DISPLAY=unix${DISPLAY}\
+  -e ROS_HOSTNAME=localhost \
+  -e __NV_PRIME_RENDER_OFFLOAD_PROVIDER=NVIDIA-G1 \
+  -e __GLX_VENDOR_LIBRARY_NAME=nvidia \
+  --rm -it --name devenv gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-noetic:devel "$@"
+fi
diff --git a/script/wexec b/script/wexec
index b3d50504e90c2fa5c10160bf6cc2486edf99d0f7..358f4977793d14bfdba11af7d79f136d6ee4005d 100755
--- a/script/wexec
+++ b/script/wexec
@@ -1,4 +1,4 @@
 #!/bin/bash
 
-docker exec -it waradevel /entry.sh "$@"
+docker exec -it devenv /entry.sh "$@"
 
diff --git a/script/wgrun b/script/wgrun
index dedc95649909c313deeeab2fe7085ca47bf441b9..537dfc563bc7ed1aefe1ae6a9cedc2964d449148 100755
--- a/script/wgrun
+++ b/script/wgrun
@@ -10,7 +10,7 @@ docker run --gpus all \
   -v /tmp:/exttmp \
   -e DISPLAY=unix${DISPLAY}\
   -e ROS_HOSTNAME=localhost \
-  --rm -it --name waradevel gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-melodic:devel "$@"
+  --rm -it --name devenv gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-melodic:devel "$@"
 fi
 
 if [[ $(lsb_release -rs) == "20.04" ]]; then
@@ -23,5 +23,5 @@ docker run --gpus all \
   -v /tmp:/exttmp \
   -e DISPLAY=unix${DISPLAY}\
   -e ROS_HOSTNAME=localhost \
-  --rm -it --name waradevel gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-noetic:devel "$@"
+  --rm -it --name devenv gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-noetic:devel "$@"
 fi
diff --git a/script/wpull b/script/wpull
index 85f71491a7fb55d1618f2eba7f346cc14f818483..295abb1fb363723467d5767ba2e814b81044ec57 100755
--- a/script/wpull
+++ b/script/wpull
@@ -1,13 +1,13 @@
 #!/bin/bash
 
 if [[ $(lsb_release -rs) == "18.04" ]]; then
-    echo "Pulling gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-melodic:devel"
-    docker pull gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-melodic:devel
+    echo "Pulling gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-melodic:devel"
+    docker pull gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-melodic:devel
 fi
 
 if [[ $(lsb_release -rs) == "20.04" ]]; then
-    echo "Pulling gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-noetic:devel"
-    docker pull gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-noetic:devel
+    echo "Pulling gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-noetic:devel"
+    docker pull gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-noetic:devel
 fi
 
 
diff --git a/script/wrun b/script/wrun
index 61902c5f2c11e96a8e9420ae34b4aab891d90ba8..59927f4182023df532b3135e02d700bf6f59a1cc 100755
--- a/script/wrun
+++ b/script/wrun
@@ -9,7 +9,7 @@ docker run \
   -v /tmp:/exttmp \
   -e DISPLAY=unix${DISPLAY}\
   -e ROS_HOSTNAME=localhost \
-  --rm -it --name waradevel gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-melodic:devel "$@"
+  --rm -it --name devenv gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-melodic:devel "$@"
 fi
 
 if [[ $(lsb_release -rs) == "20.04" ]]; then
@@ -21,5 +21,5 @@ docker run \
   -v /tmp:/exttmp \
   -e DISPLAY=unix${DISPLAY}\
   -e ROS_HOSTNAME=localhost \
-  --rm -it --name waradevel gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-noetic:devel "$@"
+  --rm -it --name devenv gitlab.liu.se:5000/lrs/devenv_docker_images/lrs-noetic:devel "$@"
 fi