diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 0dcedea04af0e94db46b0489030b256ae7d0efb1..03f159bc29a8cca111accddce64729aabcbf8c62 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -104,15 +104,15 @@ ENV CMAKE_CXX_FLAGS="-O3"
 WORKDIR /home/gepetto/dependencies
 ENV CMAKE_FLAGS="-DCMAKE_INSTALL_LIBDIR=lib -DBUILD_TESTING=OFF -DBUILD_BENCHMARK=OFF -DBUILD_BENCHMARKS=OFF -DBUILD_EXAMPLES=OFF -DINSTALL_DOCUMENTATION=OFF -DBUILD_PYTHON_INTERFACE=ON -DGENERATE_PYTHON_STUBS=OFF -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON -DCOAL_HAS_QHULL=ON -DBUILD_WITH_COLLISION_SUPPORT=ON -DPROJECT_USE_QT4=OFF -DUSE_QPOASES=OFF"
 ADD install_dependency.sh /home/gepetto/dependencies/install_dependency.sh
-RUN bash install_dependency.sh stack-of-tasks/eigenpy/v3.10.0/4 \
-    && bash install_dependency.sh coal-library/coal/v3.0.0/10 \
-    && bash install_dependency.sh stack-of-tasks/pinocchio/v3.0.0/5 \
-    && bash install_dependency.sh gepetto/example-robot-data/v4.1.0/10 \
-    && bash install_dependency.sh loco-3d/crocoddyl/v2.1.0/10\
-    && bash install_dependency.sh machines-in-motion/mim_solvers/devel/10 \
-    && bash install_dependency.sh agimus-project/colmpc/main/10 \
-    # Remove example-robot-data source to shrink resulting Docker image
-    && rm -rf /home/gepetto/dependencies/example-robot-data
+RUN bash install_dependency.sh stack-of-tasks/eigenpy/v3.10.0/4
+RUN bash install_dependency.sh florent-lamiraux/hpp-fcl/acw/10
+RUN bash install_dependency.sh stack-of-tasks/pinocchio/v3.1.0/5
+RUN bash install_dependency.sh gepetto/example-robot-data/v4.1.0/10
+RUN bash install_dependency.sh loco-3d/crocoddyl/v2.1.0/10
+RUN bash install_dependency.sh machines-in-motion/mim_solvers/devel/10
+RUN bash install_dependency.sh agimus-project/colmpc/main/10
+# Remove example-robot-data source to shrink resulting Docker image
+RUN rm -rf /home/gepetto/dependencies/example-robot-data
 
 # # Install HappyPose and PyM3T
 # WORKDIR /tmp
@@ -259,7 +259,6 @@ RUN bash install_dependency.sh humanoid-path-planner/hpp-manipulation/master/4
 RUN bash install_dependency.sh humanoid-path-planner/hpp-manipulation-urdf/master/4
 RUN bash install_dependency.sh humanoid-path-planner/hpp-manipulation-corba/master/4
 RUN bash install_dependency.sh florent-lamiraux/gepetto-viewer/devel/4
-RUN bash install_dependency.sh florent-lamiraux/hpp_benchmark/devel/1
 RUN bash install_dependency.sh humanoid-path-planner/gepetto-viewer-corba/master/4
 RUN bash install_dependency.sh humanoid-path-planner/hpp-gepetto-viewer/master/4
 
@@ -274,4 +273,4 @@ RUN bash install_dependency.sh humanoid-path-planner/hpp-plot/master/4
 RUN bash install_dependency.sh humanoid-path-planner/hpp-gui/master/4
 RUN bash install_dependency.sh florent-lamiraux/hpp-bin-picking/devel/4
 ENV LD_LIBRARY_PATH=/usr/local/lib:${LD_LIBRARY_PATH}
-ENV AMENT_PREFIX_PATH=/usr/local
\ No newline at end of file
+ENV AMENT_PREFIX_PATH=/usr/local