diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 8ffe2ece..e87feb83 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -1,6 +1,7 @@
 ARG IMAGE_PREFIX=""
 ARG ROS_DISTRO=noetic
-FROM ${IMAGE_PREFIX}ros:${ROS_DISTRO}-ros-base AS base
+ARG BASE_DOCKER_NAME=${ROS_DISTRO}
+FROM ${IMAGE_PREFIX}ros:${BASE_DOCKER_NAME}-ros-base AS base
 
 ENV TERM xterm
 ENV IN_DOCKER 1
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index 5301db1b..c8784ad0 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -22,7 +22,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [noetic, jammy]
+        ROS_DISTRO: [noetic, one]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -58,8 +58,9 @@ jobs:
           file: .docker/Dockerfile
           build-args: |
             ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+            BASE_DOCKER_NAME=${{ matrix.ROS_DISTRO == 'one' && 'jammy' || matrix.ROS_DISTRO }}
             MUJOCO_VERSIONS=${{ env.MUJOCO_VERSIONS }}
-            IMAGE_PREFIX=${{ matrix.ROS_DISTRO == 'jammy' && 'ubiagni/' || '' }}
+            IMAGE_PREFIX=${{ matrix.ROS_DISTRO == 'one' && 'ubiagni/' || '' }}
           push: true
           no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
           cache-from: type=registry,ref=${{ env.IMAGE }}