diff --git a/src/nanosaur/docker.py b/src/nanosaur/docker.py
index a1cdf10..cdacf9e 100644
--- a/src/nanosaur/docker.py
+++ b/src/nanosaur/docker.py
@@ -66,6 +66,39 @@ def create_simple(platform, params: Params, args) -> bool:
     return True
 
 
+def docker_robot_run_command(platform, params: Params, command, name=None):
+    """Run a command in the robot container."""
+
+    if not docker.compose.is_installed():
+        print(TerminalFormatter.color_text("Please install Docker and Docker Compose before running the simulation.", color='red'))
+        return False
+    
+    workspace_type = "robot" if platform['Machine'] == 'jetson' else "simulation"
+    docker_compose = f"docker-compose.{workspace_type}.yml"
+    nanosaur_home_path = get_nanosaur_home()
+    # Create the full file path
+    docker_compose_path = os.path.join(nanosaur_home_path, docker_compose)
+    robot = RobotList.get_robot(params)
+    
+    # Check which simulation tool is selected only if robot.simulation is true
+    if robot.simulation and 'simulation_tool' not in params:
+        print(TerminalFormatter.color_text("No simulation tool selected. Please run simulation set first.", color='red'))
+        return False
+    
+    # Build env file
+    if not is_env_file():
+        print(TerminalFormatter.color_text("Creating the environment file...", color='green'))
+        build_env_file(params)
+    
+    # Create a DockerClient object with the docker-compose file
+    nanosaur_compose = DockerClient(compose_files=[docker_compose_path])
+    try:
+        nanosaur_compose.compose.run(service='nanosaur_simulator', command=command, remove=True, tty=True, name=name)
+    except DockerException as e:
+        print(TerminalFormatter.color_text(f"Error running the command: {e}", color='red'))
+        return False
+
+
 def docker_robot_start(platform, params: Params, args):
     """Start the docker container."""
 
diff --git a/src/nanosaur/robot.py b/src/nanosaur/robot.py
index 83df2cb..77aefd8 100644
--- a/src/nanosaur/robot.py
+++ b/src/nanosaur/robot.py
@@ -27,6 +27,7 @@
 from inquirer.themes import GreenPassion
 import argparse
 import subprocess
+import shlex
 from nanosaur import workspace
 from nanosaur import docker
 from nanosaur.prompt_colors import TerminalFormatter
@@ -272,26 +273,32 @@ def robot_reset(platform, params: Params, args):
 
 def control_keyboard(platform, params: Params, args):
     """Control the robot using the keyboard."""
-    nanosaur_ws_path = workspace.get_workspace_path(params, 'ws_simulation_name')
-    bash_file = f'{nanosaur_ws_path}/install/setup.bash'
-    # Read the robot name
     robot = RobotList.get_robot(params)
-    print(TerminalFormatter.color_text(f"Control the robot {robot.name} using the keyboard", color='green'))
-    subprocess.run(f'source {bash_file} && ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/{robot.name}/key_vel',
-                   shell=True, executable='/bin/bash')
-
+    command = f"ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/{robot.name}/key_vel"
+    # Run from local machine
+    if params.get('mode', '') in ['Maintainer','Raffo']:
+        nanosaur_ws_path = workspace.get_workspace_path(params, 'ws_simulation_name')
+        bash_file = f'{nanosaur_ws_path}/install/setup.bash'
+        # Read the robot name
+        print(TerminalFormatter.color_text(f"Control the robot {robot.name} using the keyboard", color='green'))
+        subprocess.run(f'source {bash_file} && {command}', shell=True, executable='/bin/bash')
+        return True
+    # Run from docker container
+    docker.docker_robot_run_command(platform, params, shlex.split(command), name=f"{robot.name}-keyboard")
+    return True
 
 def robot_display(platform, params: Params, args):
     """Display the robot configuration."""
-    nanosaur_ws_path = workspace.get_workspace_path(params, 'ws_simulation_name')
-    bash_file = f'{nanosaur_ws_path}/install/setup.bash'
-    # Read the robot name
     robot = RobotList.get_robot(params)
-    print(TerminalFormatter.color_text(f"Display the robot {robot.name}", color='green'))
-    try:
-        subprocess.run(f'source {bash_file} && ros2 launch nanosaur_visualization robot_display.launch.py robot_name:={robot.name}',
-                       shell=True, executable='/bin/bash')
-    except KeyboardInterrupt:
-        print(TerminalFormatter.color_text("Process interrupted by user", color='yellow'))
+    command = f"ros2 launch nanosaur_visualization robot_display.launch.py robot_name:={robot.name}"
+    # Run from local machine
+    if params.get('mode', '') in ['Maintainer', 'Raffo']:
+        nanosaur_ws_path = workspace.get_workspace_path(params, 'ws_simulation_name')
+        bash_file = f'{nanosaur_ws_path}/install/setup.bash'
+        print(TerminalFormatter.color_text(f"Display the robot {robot.name}", color='green'))
+        subprocess.run(f'source {bash_file} && {command}', shell=True, executable='/bin/bash')
+        return True
+    # Run from docker container
+    docker.docker_robot_run_command(platform, params, shlex.split(command), name=f"{robot.name}-rviz")
     return True
 # EOF