diff --git a/Dockerfile b/Dockerfile
index 0cfc872..7f9ec93 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -13,7 +13,7 @@ RUN apt-get update -y && apt-get upgrade -y
 RUN apt-get install -y ros-${ROS_DISTRO}-desktop-full ros-${ROS_DISTRO}-rqt-*
 RUN rosdep init && rosdep update
 RUN apt install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
-RUN apt-get install -y ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-gazebo* ros-${ROS_DISTRO}-moveit* ros-${ROS_DISTRO}-industrial-core
+RUN apt-get install -y ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-gazebo* ros-${ROS_DISTRO}-moveit* ros-${ROS_DISTRO}-industrial-core ros-${ROS_DISTRO}-orocos-*
 RUN rm -rf /var/lib/apt/lists/*
 
 # ROS setting
@@ -35,13 +35,14 @@ RUN cd src/ && \
 	git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator_msgs.git && \
 	git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator_simulations.git && \
 	git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/robotis_manipulator.git && \
+	git clone https://github.com/gt-ros-pkg/hrl-kdl.git && \
 	git clone https://github.com/kairproject/kair_algorithms_draft.git
 
 RUN cd src/DynamixelSDK/python && python setup.py install
 
 # install pip
 RUN wget https://bootstrap.pypa.io/get-pip.py
-RUN python2.7 get-pip.py
+RUN python2.7 get-pip.py && rm get-pip.py
 
 # gym requirements
 RUN apt-get update && apt-get install -y python3-opengl zlib1g-dev libjpeg-dev patchelf \
@@ -49,6 +50,7 @@ RUN apt-get update && apt-get install -y python3-opengl zlib1g-dev libjpeg-dev p
 
 # install repository requirements
 RUN apt-get remove -y python-psutil
+
 RUN cd src/kair_algorithms_draft/scripts && python2.7 -m pip install -r requirements.txt
 RUN python2.7 -m pip install gym['Box2d']
 
diff --git a/docker_train.sh b/docker_train.sh
index 1dae1a7..622aa17 100644
--- a/docker_train.sh
+++ b/docker_train.sh
@@ -4,12 +4,20 @@ ROS_DISTRO=kinetic
 CATKIN_WS=/root/catkin_ws
 KAIR=$CATKIN_WS/src/kair_algorithms_draft
 
+source /opt/ros/$ROS_DISTRO/setup.bash
+source $CATKIN_WS/devel/setup.bash
+
 if [ "$1" == "lunarlander" ]; then
 	cd $KAIR/scripts; \
 		python run_lunarlander_continuous.py --algo $2 --off-render
-elif [ "$1" == "openmanipulator" ]; then
+elif [ "$1" == "reacher" ]; then
 	cd $KAIR/scripts; \
-		/opt/ros/$ROS_DISTRO/bin/rosrun kair_algorithms run_open_manipulator_reacher_v0.py --algo $2 --off-render
+		python run_reacher_v1.py --algo $2 --off-render
+elif [ "$1" == "openmanipulator" ]; then
+	cd $CATKIN_WS; \
+		roslaunch kair_algorithms open_manipulator_env.launch gui:=false &
+	cd $KAIR/scripts; \
+		rosrun kair_algorithms run_open_manipulator_reacher_v0.py --algo $2 --off-render
 else
 	echo "Unknown parameter"
 fi
diff --git a/scripts/algorithms/common/abstract/agent.py b/scripts/algorithms/common/abstract/agent.py
index 02d75f2..dbecc9a 100755
--- a/scripts/algorithms/common/abstract/agent.py
+++ b/scripts/algorithms/common/abstract/agent.py
@@ -44,7 +44,10 @@ class AbstractAgent(object):
             self.args.max_episode_steps = env._max_episode_steps
 
         # for logging
-        self.env_name = str(self.env.env).split("<")[1].replace(">>", "")
+        if hasattr(env, "env_name"):
+            self.env_name = env.env_name
+        else:
+            self.env_name = self.env.unwrapped.spec.id
         self.sha = (
             subprocess.check_output(["git", "rev-parse", "--short", "HEAD"])[:-1]
             .decode("ascii")