diff --git a/dev/README.md b/dev/README.md
index b2d89ca..73a3f57 100644
--- a/dev/README.md
+++ b/dev/README.md
@@ -56,7 +56,7 @@ The `compile_commands.json` file can be generated with
 3. Collision detection `libccd`. Follow the guides [here](https://github.com/danfis/libccd#compile-and-install) or do `sudo apt install libccd-dev`.
 4. Open Motional Planning Library `ompl`. Install by following these [instructions](https://ompl.kavrakilab.org/installation.html). Ubuntu users can also do `sudo apt install libompl-dev`.
 5. Point cloud library `octomap`. Install from source [here](https://github.com/OctoMap/octomap.git). Ubuntu users can also do `sudo apt install liboctomap-dev`.
-6. Flexible Collision Library `fcl`. This depends on `Eigen3` and `libccd`. Follow the instructions [here](https://github.com/flexible-collision-library/fcl/blob/master/INSTALL). Ubuntu users can also do `sudo apt install libfcl-dev`. (Note: you can also add in the faster hpp-fcl from [here](https://github.com/humanoid-path-planner/hpp-fcl/blob/devel/INSTALL))
+6. Flexible Collision Library `fcl` (our [fork](https://github.com/haosulab/fcl)). This depends on `Eigen3` and `libccd`. Follow the instructions [here](https://github.com/haosulab/fcl/blob/master/INSTALL). (Note: you can also add in the faster hpp-fcl from [here](https://github.com/humanoid-path-planner/hpp-fcl/blob/devel/INSTALL))
 7. Asset import library `assimp`. Install instructions [here](https://github.com/assimp/assimp/blob/master/Build.md)
 8. URDF parser `urdfdom`. Clone from [this repo](https://github.com/ros/urdfdom) and do the usual cmake+make+make install. Ubuntu users can also do `sudo apt install liburdfdom-dev`.
 9. Rigid-body dynamics library `pinocchio`. Full installation instructions [here](https://stack-of-tasks.github.io/pinocchio/download.html). It's recommended if you install from source as other methods might not configure the paths well.
diff --git a/docker/Dockerfile b/docker/Dockerfile
index de5066f..77f59d3 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -44,8 +44,8 @@ RUN git clone --single-branch -b v1.9.8 --depth 1 https://github.com/OctoMap/oct
     cmake .. && make -j$(nproc) && make install && \
     rm -rf /workspace/octomap
 
-# v0.6.1 does not work, use newer instead
-RUN git clone --single-branch -b 0.7.0 --depth 1 https://github.com/flexible-collision-library/fcl.git && \
+# Use our fork for Halfspace distance impl & bugfix
+RUN git clone --single-branch -b master --depth 1 https://github.com/haosulab/fcl.git && \
     cd fcl && mkdir build && cd build && \
     cmake .. && make -j$(nproc) && make install && \
     rm -rf /workspace/fcl