diff --git a/docker_env/docker-compose.yml b/docker_env/docker-compose.yml
index 0d620fe..dfee363 100644
--- a/docker_env/docker-compose.yml
+++ b/docker_env/docker-compose.yml
@@ -78,7 +78,6 @@ services:
         # Mount gear folder on host to app folder in container
         volumes:
             - ../src/rrrobot_ws:/app/rrrobot_ws
-            - ../src/ariac_ws:/app/ariac_ws
         # Set DISPLAY variable and network mode for GUIs
         environment:
             - DISPLAY=${IP_ADDRESS}:0.0
diff --git a/docs/home.md b/docs/home.md
index b831a4d..4b676e3 100644
--- a/docs/home.md
+++ b/docs/home.md
@@ -8,8 +8,8 @@
   - [Docker Compose Services](#docker-compose-services)
   - [GUI Support](#gui-support)
   - [Running Docker Containers](#running-docker-containers)
-  - [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
-  - [GEAR Simulation](#gear-simulation)
+  - [Gazebo Grasping Simulation (Testing)](#gazebo-grasping-simulation-testing)
+  - [GEAR Simulation (Final)](#gear-simulation-final)
   - [Tips & Tricks](#tips--tricks)
 
 ## Contributors
@@ -55,15 +55,15 @@ ros-turtlesim is a container that tests whether GUI support is working. This wil
 
 #### ros <!-- omit in toc -->
 
-ros is the production container for all ROS nodes we create. This is meant to run our final code and interface with the gazebo container for simulation.
+ros is a container based on the ROS Melodic docker image. This is provided for convenience, but not used for running the final simulation.
 
 #### gazebo <!-- omit in toc -->
 
-Similarly to ros, gazebo is the production container for gazebo. This is meant to run our final simulation.
+gazebo is a container based on the Gazebo Server 9 docker image. This is provided for convenience, but not used for running the final simulation.
 
 #### gear <!-- omit in toc -->
 
-The GEAR container includes the Gazebo Environment for Agile Robotics from the Agile Robotics for Industrial Automation Competition 2019.
+The GEAR container includes the Gazebo Environment for Agile Robotics from the Agile Robotics for Industrial Automation Competition 2019. This is used for running the final simulation.
 
 ### GUI Support
 
@@ -106,7 +106,7 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi
 4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) or [Docker Compose Services](#docker-compose-services))
    - `docker-compose run --rm <service_name>`
 
-### Gazebo Grasping Simulation
+### Gazebo Grasping Simulation (Testing)
 
 1. Source ROS Setup
    - `source /opt/ros/melodic/setup.bash`
@@ -119,7 +119,7 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi
    - `gazebo /app/rrrobot_src/world/rrrobot.world`
 5. Run control and perception programs
 
-### GEAR Simulation
+### GEAR Simulation (Final)
 
 Instructions for working in the GEAR Simulation can be found on the [GEAR](gear.md) page.
 
diff --git a/src/rrrobot_ws/run_all.sh b/src/rrrobot_ws/run_all.sh
index d557fff..2e68849 100755
--- a/src/rrrobot_ws/run_all.sh
+++ b/src/rrrobot_ws/run_all.sh
@@ -1,11 +1,60 @@
-#/app/rrrobot_ws/src/rrrobot/scripts/rrrobot_run_no_build.sh &
+#!/bin/bash
+
+# Build Workspace
+cd /app/rrrobot_ws
+catkin_make clean
+catkin_make
+source devel/setup.bash
+export GAZEBO_RESOURCE_PATH=$(pwd)/world:$GAZEBO_RESOURCE_PATH
+
+# ARIAC Environment
+cd /app/rrrobot_ws/src/rrrobot/scripts
+./rrrobot_run_no_build.sh &
+sleep 25
+rosparam set /use_sim_time true
+
+# CV Model
 cd /app/rrrobot_ws/src/rrrobot/src
 python3 cv_model.py &
-cd /app/rrrobot_ws/devel/lib/rrrobot
-./rrrobot_node &
-./depth_camera_node >> /dev/null &
-./object_spawner_node &
-./arm_controller_node &
-rostopic echo /arm_controller/destination &
-rostopic echo /desired_grasp_pose &
-rostopic echo /cv_model &
+sleep 10
+
+# Arm Controller Node
+cd /app/rrrobot_ws
+rosrun rrrobot arm_controller_node &
+sleep 3
+
+# Depth Camera Node
+rosrun rrrobot depth_camera_node &
+sleep 3
+
+# RRRobot Node
+rosrun rrrobot rrrobot_node &
+sleep 3
+
+# Object Spawner
+rosrun rrrobot object_spawner_node &
+sleep 3
+
+# Start Competition
+source /opt/ros/melodic/setup.bash
+rosservice call /ariac/start_competition
+sleep 1
+rosservice call /ariac/conveyor/control "power: 100"
+sleep 1
+rosservice call /ariac/arm1/gripper/control "enable: false"
+sleep 1
+rosservice call /ariac/arm1/gripper/control "enable: true"
+sleep 1
+rosservice call /ariac/arm1/gripper/control "enable: false"
+
+#/app/rrrobot_ws/src/rrrobot/scripts/rrrobot_run_no_build.sh &
+# cd /app/rrrobot_ws/src/rrrobot/src
+# python3 cv_model.py &
+# cd /app/rrrobot_ws/devel/lib/rrrobot
+# ./rrrobot_node &
+# ./depth_camera_node >> /dev/null &
+# ./object_spawner_node &
+# ./arm_controller_node &
+# rostopic echo /arm_controller/destination &
+# rostopic echo /desired_grasp_pose &
+# rostopic echo /cv_model &