diff --git a/ariac-competitor/ariac-competitor/Dockerfile b/ariac-competitor/ariac-competitor/Dockerfile
index 07d5f3a..a06ac23 100644
--- a/ariac-competitor/ariac-competitor/Dockerfile
+++ b/ariac-competitor/ariac-competitor/Dockerfile
@@ -1,5 +1,6 @@
 FROM ariac/ariac3-competitor-base-melodic:latest
 
+COPY ./fast_rl_ws /fast_rl_ws
 COPY ./build_team_system.bash /
 RUN chmod 755 /build_team_system.bash
 RUN /build_team_system.bash
diff --git a/ariac-server/ariac-server/Dockerfile b/ariac-server/ariac-server/Dockerfile
index a72516d..2767f34 100644
--- a/ariac-server/ariac-server/Dockerfile
+++ b/ariac-server/ariac-server/Dockerfile
@@ -12,6 +12,7 @@ RUN apt-get update \
 
 # setup keys and sources for official Gazebo and ROS debian packages
 RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys D2486D2DD83DB69272AFE98867170598AF249743 \
+ && apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654 \
  && echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-latest.list \
  && apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116 \
  && echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list
@@ -52,8 +53,7 @@ RUN mkdir -p /tmp/ros_ws/src
 RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && \
                   cd /tmp/ros_ws/src && \
                   catkin_init_workspace"
-RUN git clone \
-      https://github.com/osrf/ariac-gazebo_ros_pkgs.git /tmp/ros_ws/src/gazebo_ros_pkgs \
+RUN git clone https://github.com/osrf/ariac-gazebo_ros_pkgs.git /tmp/ros_ws/src/gazebo_ros_pkgs \
       -b ariac-network-melodic
 RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && \
                   cd /tmp/ros_ws/ && \
diff --git a/ariac-server/run_container.bash b/ariac-server/run_container.bash
index 6e543c3..bede566 100755
--- a/ariac-server/run_container.bash
+++ b/ariac-server/run_container.bash
@@ -71,6 +71,7 @@ docker run --rm --name ${CONTAINER} \
   -v "/tmp/.docker.xauth:/tmp/.docker.xauth" \
   -v /dev/log:/dev/log \
   ${DOCKER_EXTRA_ARGS} \
+  ${DISPLAY_PARAMS} \
   ${DOCKER_GPU_PARAMS} \
   ${DOCKER_DISPLAY_PARAMS} \
   ${IMAGE_NAME} \