diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..1d085ca
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1 @@
+**
diff --git a/Dockerfile b/Dockerfile
index f9fe688..0cfc872 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,5 +1,8 @@
-FROM ubuntu:16.04
-ENV HOME /root
+FROM nvidia/cuda:9.0-cudnn7-devel-ubuntu16.04
+ENV ROS_DISTRO kinetic
+ENV HOME=/root
+ENV CATKIN_WS=/root/catkin_ws
+
 SHELL ["/bin/bash", "-c"]
 RUN apt-get update && apt-get -y upgrade && apt-get -y install git wget vim
 
@@ -7,34 +10,52 @@ RUN apt-get update && apt-get -y upgrade && apt-get -y install git wget vim
 RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
 RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
 RUN apt-get update -y && apt-get upgrade -y
-RUN apt-get install -y ros-kinetic-desktop-full ros-kinetic-rqt-*
-RUN rosdep init
-RUN rosdep update
+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-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-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
+RUN rm -rf /var/lib/apt/lists/*
 
 # ROS setting
-RUN mkdir -p $HOME/catkin_ws/src
-WORKDIR $HOME/catkin_ws/
-RUN echo "source /opt/ros/kinetic/setup.bash" >> $HOME/.bashrc
-RUN echo "export PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages" >> $HOME/.bashrc
-RUN echo "source $HOME/catkin_ws/devel/setup.bash" >> $HOME/.bashrc
+RUN mkdir -p $CATKIN_WS/src
+WORKDIR $CATKIN_WS
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> $HOME/.bashrc
+RUN echo "export PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages" >> $HOME/.bashrc
+RUN echo "source $CATKIN_WS/devel/setup.bash" >> $HOME/.bashrc
 RUN echo "export ROS_MASTER_URI=http://localhost:11311" >> $HOME/.bashrc
 RUN echo "export ROS_HOSTNAME=localhost" >> $HOME/.bashrc
 RUN source $HOME/.bashrc
 
 # clone ROS packages
 RUN cd src/ && \
-	git clone https://github.com/kairproject/DynamixelSDK.git && \
-	git clone https://github.com/kairproject/dynamixel-workbench.git && \
-	git clone https://github.com/kairproject/dynamixel-workbench-msgs.git && \
-	git clone https://github.com/kairproject/open_manipulator.git && \
-	git clone https://github.com/kairproject/open_manipulator_msgs.git && \
-	git clone https://github.com/kairproject/open_manipulator_simulations.git && \
-	git clone https://github.com/kairproject/robotis_manipulator.git
+	git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/DynamixelSDK.git && \
+	git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/dynamixel-workbench.git && \
+	git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/dynamixel-workbench-msgs.git && \
+	git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator.git && \
+	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/kairproject/kair_algorithms_draft.git
 
-RUN cd $HOME/catkin_ws/src/DynamixelSDK/python && python setup.py install
+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
+
+# gym requirements
+RUN apt-get update && apt-get install -y python3-opengl zlib1g-dev libjpeg-dev patchelf \
+	cmake swig libboost-all-dev libsdl2-dev libosmesa6-dev xvfb ffmpeg
+
+# 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']
 
 # permission setting
-COPY ./modud_kair_control $HOME/catkin_ws/src/modud_kair_control
-RUN chmod -R +x $HOME/catkin_ws/src/modud_kair_control/
+RUN chmod +x -R src/kair_algorithms_draft
+
+# catkin_make
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && catkin_make
+
+ENTRYPOINT ["/root/catkin_ws/src/kair_algorithms_draft/docker_train.sh"]
diff --git a/docker_train.sh b/docker_train.sh
new file mode 100644
index 0000000..913b3d2
--- /dev/null
+++ b/docker_train.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+ROS_DISTRO=kinetic
+CATKIN_WS=/root/catkin_ws
+KAIR=$CATKIN_WS/src/kair_algorithms_draft
+
+if [ "$1" == "lunarlander" ]; then
+	cd $KAIR/scripts; \
+	   python run_lunarlander_continuous.py --algo $2 --off-render
+elif [ "$1" == "openmanipulator" ]; then
+	echo "Working"
+else
+	echo "Unknown parameter"
+fi