diff --git a/.docker/noetic/Dockerfile-cuda11 b/.docker/noetic/Dockerfile-cuda11
index 9e06a3cf..b9b9acf8 100644
--- a/.docker/noetic/Dockerfile-cuda11
+++ b/.docker/noetic/Dockerfile-cuda11
@@ -48,17 +48,17 @@ RUN  pip install PyQt5==5.14.1 --upgrade --ignore-installed && \
 RUN cd /root/ && \
     git clone -b noetic-devel https://github.com/JdeRobot/BehaviorMetrics && \
     cd BehaviorMetrics && \
-    pip3 install -r requirements.txt && \
+#    pip3 install -r requirements.txt && \
     pip3 install --no-deps carla_birdeye_view==1.1.1 && \
     pyrcc5 -o behavior_metrics/ui/gui/resources/resources.py \
 	behavior_metrics/ui/gui/resources/resources.qrc
 
 # Installing CustomRobots
-RUN git clone -b noetic-devel https://github.com/JdeRobot/CustomRobots && \
-    cd CustomRobots/f1 && mkdir build && cd build && \
-    /bin/bash -c "source /opt/ros/noetic/setup.bash; \
-		  cmake .. && make && make install;" && \
-    echo "source /opt/jderobot/share/jderobot/gazebo/assets-setup.sh" >> ~/.bashrc
+#RUN git clone -b noetic-devel https://github.com/JdeRobot/CustomRobots && \
+#    cd CustomRobots/f1 && mkdir build && cd build && \
+#    /bin/bash -c "source /opt/ros/noetic/setup.bash; \
+#		  cmake .. && make && make install;" && \
+#    echo "source /opt/jderobot/share/jderobot/gazebo/assets-setup.sh" >> ~/.bashrc
 
 RUN echo 'alias jl="DISPLAY=:0 jupyter lab --no-browser --ip 0.0.0.0 --port 8888 --allow-root &"' >> /root/.bashrc && \
     echo "alias killgazebogym='killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient'" >> ~/.bashrc && \
diff --git a/.docker/noetic/Dockerfile-gpu b/.docker/noetic/Dockerfile-gpu
index 909422d1..2975ef12 100644
--- a/.docker/noetic/Dockerfile-gpu
+++ b/.docker/noetic/Dockerfile-gpu
@@ -50,17 +50,17 @@ RUN  pip install PyQt5==5.14.1 --upgrade --ignore-installed && \
 RUN cd /root/ && \
     git clone -b noetic-devel https://github.com/JdeRobot/BehaviorMetrics && \
     cd BehaviorMetrics && \
-    pip3 install -r requirements.txt && \
+#    pip3 install -r requirements.txt && \
     pip3 install --no-deps carla_birdeye_view==1.1.1 && \
     pyrcc5 -o behavior_metrics/ui/gui/resources/resources.py \
 	behavior_metrics/ui/gui/resources/resources.qrc
 
 # Installing CustomRobots
-RUN git clone -b noetic-devel https://github.com/JdeRobot/CustomRobots && \
-    cd CustomRobots/f1 && mkdir build && cd build && \
-    /bin/bash -c "source /opt/ros/noetic/setup.bash; \
-		  cmake .. && make && make install;" && \
-    echo "source /opt/jderobot/share/jderobot/gazebo/assets-setup.sh" >> ~/.bashrc
+#RUN git clone -b noetic-devel https://github.com/JdeRobot/CustomRobots && \
+#    cd CustomRobots/f1 && mkdir build && cd build && \
+#    /bin/bash -c "source /opt/ros/noetic/setup.bash; \
+#		  cmake .. && make && make install;" && \
+#    echo "source /opt/jderobot/share/jderobot/gazebo/assets-setup.sh" >> ~/.bashrc
 
 RUN echo 'alias jl="DISPLAY=:0 jupyter lab --no-browser --ip 0.0.0.0 --port 8888 --allow-root &"' >> /root/.bashrc && \
     echo "alias killgazebogym='killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient'" >> ~/.bashrc && \
diff --git a/.github/workflows/generate_docker_10_1_cudnn7.yml b/.github/workflows/generate_docker_10_1_cudnn7.yml
index f38caf01..b0306d66 100644
--- a/.github/workflows/generate_docker_10_1_cudnn7.yml
+++ b/.github/workflows/generate_docker_10_1_cudnn7.yml
@@ -6,7 +6,7 @@ name: Publish 10.1-cudnn7 Docker image
 # events but only for the noetic-devel branch
 on:
   push:
-    branches: [ noetic-devel ]
+    branches: [ noetic-devel, issue-640 ]
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
diff --git a/.github/workflows/generate_docker_cuda_11.yml b/.github/workflows/generate_docker_cuda_11.yml
index 5f99ee6e..4acc590e 100644
--- a/.github/workflows/generate_docker_cuda_11.yml
+++ b/.github/workflows/generate_docker_cuda_11.yml
@@ -6,7 +6,7 @@ name: Publish cuda 11 Docker image
 # events but only for the noetic-devel branch
 on:
   push:
-    branches: [ noetic-devel ]
+    branches: [ noetic-devel, issue-640 ]
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs: