diff --git a/scripts/Dockerfile.dependencies_humble b/scripts/Dockerfile.dependencies_humble
index e82779a..bbe7e02 100644
--- a/scripts/Dockerfile.dependencies_humble
+++ b/scripts/Dockerfile.dependencies_humble
@@ -2,8 +2,8 @@ FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu22.04
 
 # Make all NVIDIA GPUS visible
 ARG NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES all
-ENV VIRTUALGL_VERSION=3.0.2
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+ENV VIRTUALGL_VERSION=3.1.4
 ENV TURBOVNC_VERSION=3.0.3
 
 # Setup NON INTERACTIVE ENVIRONMENT
@@ -11,13 +11,13 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 # Install locales to prevent errors
 RUN apt-get clean && \
-    apt-get update && \
-    apt-get install --no-install-recommends -y locales && \
-    rm -rf /var/lib/apt/lists/* && \
-    locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
+  apt-get update && \
+  apt-get install --no-install-recommends -y locales && \
+  rm -rf /var/lib/apt/lists/* && \
+  locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
 
 ENV ROS_DISTRO=humble
 ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
@@ -28,6 +28,12 @@ ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python3.10/site-packages
 ENV ROS_PYTHON_VERSION=3
 ENV ROS_VERSION=2
 
+# gz.msgs10 Python bindings (installed by gz-harmonic apt package) are compiled
+# with protoc 3.x and cannot create descriptors under protobuf 4.x / 5.x C++
+# extension. Force pure-Python protobuf parser (backward-compatible with all
+# .pb2 files) so gz.msgs10 and onnxruntime-gpu coexist without version pinning.
+ENV PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python
+
 # Install common tools
 RUN apt-get update && apt-get install -y \
   software-properties-common \
@@ -41,80 +47,66 @@ RUN apt-get update && apt-get install -y \
   sudo \
   net-tools \
   pciutils \
+  nlohmann-json3-dev \
   && rm -rf /var/lib/apt/lists/*
 
 # Install ROS2 and ROS packages
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
   && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
   && apt-get update && apt-get install -y \
-    ros-${ROS_DISTRO}-ros-base \
-    ros-${ROS_DISTRO}-xacro \
-    ros-${ROS_DISTRO}-joint-state-publisher \
-    ros-${ROS_DISTRO}-rviz2 \
-    python3-colcon-common-extensions \
-    python3-pip python3-rosdep python3-vcstool \
-    python3-argcomplete \
+  ros-${ROS_DISTRO}-ros-base \
+  ros-${ROS_DISTRO}-xacro \
+  ros-${ROS_DISTRO}-joint-state-publisher \
+  ros-${ROS_DISTRO}-rviz2 \
+  python3-colcon-common-extensions \
+  python3-pip python3-rosdep python3-vcstool \
+  python3-argcomplete \
   && rosdep init \
   && rm -rf /var/lib/apt/lists/*
 
-# Install Gazebo 11
-RUN add-apt-repository ppa:openrobotics/gazebo11-gz-cli
-RUN apt-get update && apt-get install -y \
-        gazebo11 \
-        ros-humble-gazebo-ros-pkgs \
-        gstreamer1.0-plugins-bad \
-        gstreamer1.0-plugins-good \
-        gstreamer1.0-plugins-ugly \
-        gstreamer1.0-libav \
-        libgstreamer-plugins-base1.0-dev \
-        libimage-exiftool-perl \
-    && apt-get -y autoremove \
-    && apt-get clean autoclean \
-    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
-RUN mkdir ~/.gazebo && touch ~/.gazebo/gui.ini
-
 # Install Gazebo Harmonic
 RUN apt-get update \
   && wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
   && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
   && apt-get update && apt-get install -y -q \
-      gz-harmonic \
+  gz-harmonic \
   && rm -rf /var/lib/apt/lists/*
 
 RUN apt-get update && apt-get install -y \
-      ros-humble-ros-gzharmonic \
+  ros-humble-ros-gzharmonic \
   && rm -rf /var/lib/apt/lists/*
 
 # Install VNC
 # Xorg segfault error mitigation
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    dbus-x11 \
-    libdbus-c++-1-0v5 \
-    xvfb xauth xfonts-base xkb-data x11-xkb-utils \
-    x11vnc \
-    xterm \
-    xserver-xorg-video-dummy \
-    x11-apps \
-	&& apt-get -y autoremove \
-	&& apt-get clean autoclean \
-  && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-
-RUN wget https://xpra.org/xorg.conf \
+  dbus-x11 \
+  libdbus-c++-1-0v5 \
+  xvfb xauth xfonts-base xkb-data x11-xkb-utils \
+  x11vnc \
+  xterm \
+  xserver-xorg-video-dummy \
+  x11-apps \
+  && apt-get -y autoremove \
+  && apt-get clean autoclean \
+  && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+RUN curl -L -o xorg.conf https://xpra.org/xorg.conf || echo "Download failed" \
   && rm -rf /tmp/*
 
 # Install noVNC and websockify
-RUN git clone -b v1.4.0 https://github.com/novnc/noVNC.git
-RUN cd /noVNC/utils && git clone -b v0.11.0 https://github.com/novnc/websockify.git
+RUN git clone --depth=1 --single-branch -b v1.4.0 https://github.com/novnc/noVNC.git
+RUN cd /noVNC/utils && git clone --depth=1 --single-branch -b v0.11.0 https://github.com/novnc/websockify.git
 
 # VirtualGL and TurboVNC
 COPY ./gpu/virtualgl_${VIRTUALGL_VERSION}_amd64.deb ./gpu/virtualgl32_${VIRTUALGL_VERSION}_amd64.deb ./gpu/turbovnc_${TURBOVNC_VERSION}_amd64.deb /
 
 RUN dpkg --add-architecture i386 && apt-get update && apt-get install -y \
-    libxtst6:i386 \
-    libxv1:i386 \
-    libglu1-mesa:i386 \
-    libegl1-mesa:i386 \
-    libegl1-mesa:amd64
+  libxtst6:i386 \
+  libxv1:i386 \
+  libglu1-mesa:i386 \
+  libegl1-mesa:i386 \
+  libegl1-mesa:amd64 \
+  && rm -rf /var/lib/apt/lists/*
 
 RUN apt-get update && dpkg -i /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
   && rm /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
@@ -125,7 +117,7 @@ RUN apt-get update && dpkg -i /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtual
   && chmod u+s /usr/lib/i386-linux-gnu/libvglfaker.so \
   && chmod u+s /usr/lib/i386-linux-gnu/libdlfaker.so \
   && apt-get update && apt-get install -y --no-install-recommends \
-    /turbovnc_${TURBOVNC_VERSION}_amd64.deb \
+  /turbovnc_${TURBOVNC_VERSION}_amd64.deb \
   && rm turbovnc_${TURBOVNC_VERSION}_amd64.deb \
   && rm -rf /var/lib/apt/lists/*
 
@@ -133,75 +125,117 @@ RUN apt-get update && \
   apt-get install -y lxde-common && \
   rm -rf /var/lib/apt/lists/*
 
-ENV PATH "$PATH:/opt/VirtualGL/bin:/opt/TurboVNC/bin"
-
-# Node
-RUN curl -sL https://deb.nodesource.com/setup_20.x | bash - \
-  && apt-get install -y nodejs \
-  && npm install -g yarn
+ENV PATH="$PATH:/opt/VirtualGL/bin:/opt/TurboVNC/bin"
 
 # Install Python 3 pip build dependencies first
-RUN python3.10 -m pip install --upgrade pip==23.3.1 wheel==0.41.3 setuptools==69.0.2 selenium
+RUN python3.10 -m pip install --no-cache-dir --upgrade pip==23.3.1 wheel==0.41.3 setuptools==69.0.2 selenium
 
 # pip install dependencies
-RUN python3.10 -m pip install \
-    pylint==3.3.1 transitions==0.9.0 pydantic==2.4.2 websocket-client==1.5.2 \
-    argparse==1.4.0 coverage==6.2 cerberus==1.3.4 empy==3.3.4 jinja2==3.0.3 kconfiglib==14.1.0 \
-    matplotlib==3.0.* numpy==1.24.3 nunavut==1.1.0 packaging==21.3 pkgconfig==1.5.5 pyros-genmsg==0.5.8 \
-    pyulog==1.0.1 pyyaml==5.4.1 requests==2.31.0 serial==0.0.97 six==1.16.0 toml==0.10.2 psutil==5.9.0 \
-    onnxruntime==1.15.0 Pillow==9.0.1 opencv-python==4.5.5.64 netron seaborn==0.11.2 watchdog==2.1.5 utm==0.7.0 psycopg2 jedi pyapriltags
+RUN python3.10 -m pip install --no-cache-dir \
+  pylint==3.3.1 transitions==0.9.0 pydantic==2.4.2 websocket-client==1.5.2 \
+  argparse==1.4.0 coverage==6.2 cerberus==1.3.4 empy==3.3.4 jinja2==3.0.3 kconfiglib==14.1.0 \
+  matplotlib==3.0.* numpy==1.24.3 nunavut==1.1.0 packaging==21.3 pkgconfig==1.5.5 pyros-genmsg==0.5.8 \
+  pyulog==1.0.1 pyyaml==5.4.1 requests==2.31.0 serial==0.0.97 six==1.16.0 toml==0.10.2 psutil==5.9.0 \
+  onnxruntime-gpu==1.22.0 Pillow==9.0.1 opencv-python==4.5.5.64 watchdog==2.1.5 utm==0.7.0 psycopg2 jedi pyapriltags
+
+# CUDA runtime wheels for onnxruntime-gpu==1.22.0 CUDA Execution Provider.
+#
+# All seven packages below must be upgraded together whenever onnxruntime-gpu
+# is bumped. Compatibility ranges declared by the wheel (via ~= operator):
+#   nvidia-cuda-runtime-cu12  ~= 12.0   nvidia-cuda-nvrtc-cu12 ~= 12.0
+#   nvidia-cublas-cu12        (runtime dep of cudnn)
+#   nvidia-cudnn-cu12         ~=  9.0
+#   nvidia-curand-cu12        ~= 10.0   nvidia-cufft-cu12      ~= 11.0
+#
+# Upgrade checklist:
+#   1. Check the new ORT release notes for CUDA / cuDNN major version changes.
+#   2. Run: pip show onnxruntime-gpu | grep Requires  — to see declared ~= ranges.
+#   3. Pick PyPI versions whose MAJOR matches those ranges (stay on CUDA 12.x,
+#      cuDNN 9.x, curand 10.x, cufft 11.x until ORT itself changes the range).
+#   4. After build, verify inside the container:
+#        python3 -c "import onnxruntime as ort; print(ort.get_available_providers())"
+#      CUDAExecutionProvider must appear first.
+#   5. Run: ldd $(python3 -c "import onnxruntime, os; print(os.path.dirname(onnxruntime.__file__))")/capi/libonnxruntime_providers_cuda.so
+#      Every .so must resolve (no "not found" lines).
+RUN python3.10 -m pip install --no-cache-dir \
+  nvidia-cuda-runtime-cu12==12.8.90 \
+  nvidia-cublas-cu12==12.8.4.1 \
+  nvidia-cudnn-cu12==9.10.2.21 \
+  nvidia-nvjitlink-cu12==12.8.93 \
+  nvidia-cuda-nvrtc-cu12==12.8.93 \
+  nvidia-curand-cu12==10.3.10.19 \
+  nvidia-cufft-cu12==11.4.1.4
+
+# Register all pip-installed nvidia .so files with ldconfig so onnxruntime-gpu
+# finds them regardless of whether pip used site-packages or dist-packages
+COPY config-nvidia-libs.py /
+WORKDIR /
+RUN chmod u+x config-nvidia-libs.py
+RUN python3.10 config-nvidia-libs.py && ldconfig
 
 # monaco editor
-RUN python3.10 -m pip install black==24.10.0
+RUN python3.10 -m pip install --no-cache-dir black==24.10.0
+
+# Install ONNX Runtime C++ API
+RUN apt-get update && apt-get install -y wget && \
+  wget -q https://github.com/microsoft/onnxruntime/releases/download/v1.22.0/onnxruntime-linux-x64-1.22.0.tgz -O /tmp/onnxruntime.tgz && \
+  tar -zxvf /tmp/onnxruntime.tgz -C /tmp && \
+  cp -r /tmp/onnxruntime-linux-x64-1.22.0/include/* /usr/local/include/ && \
+  cp -r /tmp/onnxruntime-linux-x64-1.22.0/lib/* /usr/local/lib/ && \
+  ldconfig && \
+  rm -rf /tmp/onnxruntime* && \
+  rm -rf /var/lib/apt/lists/*
 
 # websocket server dependency
-RUN python3.10 -m pip install websocket_server==0.6.4 posix-ipc==1.1.1 django==4.1.7 djangorestframework==3.13.1 \
-    django-webpack-loader==1.5.0 django-cors-headers==3.14.0 websockets==11.0.3 asyncio==3.4.3
+RUN python3.10 -m pip install --no-cache-dir websocket_server==0.6.4 posix-ipc==1.1.1 django==4.1.7 djangorestframework==3.13.1 \
+  django-webpack-loader==1.5.0 django-cors-headers==3.14.0 websockets==11.0.3 asyncio==3.4.3
 
 # BT STUDIO hotfix
-RUN python3.10 -m pip install py-trees autopep8
+RUN python3.10 -m pip install --no-cache-dir py-trees autopep8
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
   && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
   && apt-get update && apt-get install -y \
-    ros-humble-py-trees \
-    ros-humble-py-trees-ros
+  ros-humble-py-trees \
+  ros-humble-py-trees-ros \
+  && rm -rf /var/lib/apt/lists/*
 
 ## Aerostack2
 WORKDIR /root/
 
 RUN apt-get update && \
-    apt-get install apt-utils -y \
-        software-properties-common \
-        git \
-        tmux \
-        tmuxinator \
-        python3-rosdep \
-        python3-pip \
-        python3-colcon-common-extensions \
-        python3-colcon-mixin \
-        python-is-python3 \
-        ros-dev-tools \
-        python3-flake8 \
-        python3-flake8-builtins  \
-        python3-flake8-comprehensions \
-        python3-flake8-docstrings \
-        python3-flake8-import-order \
-        python3-flake8-quotes \
-        cppcheck \
-        lcov \
-        lsb-release \
-        wget \
-        gnupg \
-    && rm -rf /var/lib/apt/lists/* 
-
-RUN pip3 install \
-        pylint \
-        flake8==4.0.1 \
-        pycodestyle==2.8 \
-        cmakelint \
-        cpplint \
-        colcon-lcov-result \
-        PySimpleGUI-4-foss
+  apt-get install apt-utils -y \
+  software-properties-common \
+  git \
+  tmux \
+  tmuxinator \
+  python3-rosdep \
+  python3-pip \
+  python3-colcon-common-extensions \
+  python3-colcon-mixin \
+  python-is-python3 \
+  ros-dev-tools \
+  python3-flake8 \
+  python3-flake8-builtins  \
+  python3-flake8-comprehensions \
+  python3-flake8-docstrings \
+  python3-flake8-import-order \
+  python3-flake8-quotes \
+  cppcheck \
+  lcov \
+  lsb-release \
+  wget \
+  gnupg \
+  && rm -rf /var/lib/apt/lists/* 
+
+RUN pip3 install --no-cache-dir \
+  pylint \
+  flake8==4.0.1 \
+  pycodestyle==2.8 \
+  cmakelint \
+  cpplint \
+  transforms3d \
+  colcon-lcov-result \
+  PySimpleGUI-4-foss
 
 RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
 RUN colcon mixin update default
@@ -209,7 +243,7 @@ RUN rm -rf log
 # remove log folder
 RUN mkdir -p /home/drones_ws/src/
 WORKDIR /home/drones_ws/src/
-RUN git clone https://github.com/aerostack2/aerostack2.git -b robotics-academy-fix
+RUN git clone --depth=1 https://github.com/aerostack2/aerostack2.git -b 1.1.3
 RUN touch aerostack2/as2_hardware_drivers/COLCON_IGNORE
 RUN touch aerostack2/as2_behavior_tree/COLCON_IGNORE
 RUN touch aerostack2/as2_map_server/COLCON_IGNORE
@@ -220,106 +254,113 @@ RUN touch aerostack2/as2_user_interfaces/as2_visualization/as2_rviz_plugins/COLC
 WORKDIR /home/drones_ws/
 
 RUN apt-get update && \
-    apt-get install -y \
-        libbenchmark-dev \
-        libeigen3-dev \
-        libgeographic-dev \
-        libncurses-dev \
-        libyaml-cpp-dev \
-        pybind11-dev \
-        python3-jinja2 \
-        python3-pydantic \
-        python3-pymap3d \
-        python3-pytest \
-        ros-humble-action-msgs \
-        ros-humble-ament-cmake \
-        ros-humble-ament-cmake-gtest \
-        ros-humble-ament-cmake-lint-cmake \
-        ros-humble-ament-cmake-pytest \
-        ros-humble-ament-cmake-python \
-        ros-humble-ament-cmake-xmllint \
-        ros-humble-ament-copyright \
-        ros-humble-ament-flake8 \
-        ros-humble-ament-index-cpp \
-        ros-humble-ament-lint-auto \
-        ros-humble-ament-lint-common \
-        ros-humble-ament-pep257 \
-        ros-humble-backward-ros \
-        ros-humble-builtin-interfaces \
-        ros-humble-cv-bridge \
-        ros-humble-geographic-msgs \
-        ros-humble-geometry-msgs \
-        ros-humble-image-transport \
-        ros-humble-mocap4r2-msgs \
-        ros-humble-nav-msgs \
-        ros-humble-pluginlib \
-        ros-humble-rclcpp \
-        ros-humble-rclcpp-action \
-        ros-humble-rclcpp-components \
-        ros-humble-rclcpp-lifecycle \
-        ros-humble-rclpy \
-        ros-humble-robot-state-publisher \
-        ros-humble-rosidl-default-generators \
-        ros-humble-rosidl-default-runtime \
-        ros-humble-rviz2 \
-        ros-humble-sdformat-urdf \
-        ros-humble-sensor-msgs \
-        ros-humble-std-msgs \
-        ros-humble-std-srvs \
-        ros-humble-tf2 \
-        ros-humble-tf2-geometry-msgs \
-        ros-humble-tf2-msgs \
-        ros-humble-tf2-ros \
-        ros-humble-trajectory-msgs \
-        ros-humble-visualization-msgs \
-        ros-humble-moveit \
-        ros-humble-ros2-control \
-        ros-humble-ros2-controllers \
-        ros-humble-gripper-controllers \
-        ros-humble-rmw-cyclonedds-cpp \
-        ros-humble-ur \
-        ros-humble-ros-testing \
-        libpoco-dev \
-      && rm -rf /var/lib/apt/lists/*
+  apt-get install -y \
+  libbenchmark-dev \
+  libeigen3-dev \
+  libgeographic-dev \
+  libncurses-dev \
+  libyaml-cpp-dev \
+  pybind11-dev \
+  python3-jinja2 \
+  python3-pydantic \
+  python3-pymap3d \
+  python3-pytest \
+  ros-humble-action-msgs \
+  ros-humble-ament-cmake \
+  ros-humble-ament-cmake-gtest \
+  ros-humble-ament-cmake-lint-cmake \
+  ros-humble-ament-cmake-pytest \
+  ros-humble-ament-cmake-python \
+  ros-humble-ament-cmake-xmllint \
+  ros-humble-ament-copyright \
+  ros-humble-ament-flake8 \
+  ros-humble-ament-index-cpp \
+  ros-humble-ament-lint-auto \
+  ros-humble-ament-lint-common \
+  ros-humble-ament-pep257 \
+  ros-humble-backward-ros \
+  ros-humble-builtin-interfaces \
+  ros-humble-cv-bridge \
+  ros-humble-geographic-msgs \
+  ros-humble-geometry-msgs \
+  ros-humble-image-transport \
+  ros-humble-mocap4r2-msgs \
+  ros-humble-nav-msgs \
+  ros-humble-pluginlib \
+  ros-humble-rclcpp \
+  ros-humble-rclcpp-action \
+  ros-humble-rclcpp-components \
+  ros-humble-rclcpp-lifecycle \
+  ros-humble-rclpy \
+  ros-humble-robot-state-publisher \
+  ros-humble-rosidl-default-generators \
+  ros-humble-rosidl-default-runtime \
+  ros-humble-rviz2 \
+  ros-humble-sdformat-urdf \
+  ros-humble-sensor-msgs \
+  ros-humble-std-msgs \
+  ros-humble-std-srvs \
+  ros-humble-tf2 \
+  ros-humble-tf2-geometry-msgs \
+  ros-humble-tf2-msgs \
+  ros-humble-tf2-ros \
+  ros-humble-trajectory-msgs \
+  ros-humble-visualization-msgs \
+  ros-humble-moveit \
+  ros-humble-ros2-control \
+  ros-humble-ros2-controllers \
+  ros-humble-gripper-controllers \
+  ros-humble-rmw-cyclonedds-cpp \
+  ros-humble-ur \
+  ros-humble-ros-testing \
+  ros-humble-pcl-ros \
+  ros-humble-tf-transformations \
+  ros-humble-pcl-conversions \
+  ros-humble-pcl-msgs \
+  libpoco-dev \
+  libpcl-dev \
+  && rm -rf /var/lib/apt/lists/*
 
+# On arm64 (e.g. Apple Silicon), disable parallel colcon builds and LTO
+# to avoid GNU make jobserver failures under amd64 emulation.
+
+ARG TARGETARCH
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+  if [ "$TARGETARCH" = "arm64" ]; then \
+  colcon build \
+  --symlink-install \
+  --executor sequential \
+  --cmake-args \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF ; \
+  else \
+  colcon build \
+  --symlink-install \
+  --cmake-args \
+  -DCMAKE_BUILD_TYPE=Release ; \
+  fi
 
 # Install CycloneDDS RMW for ROS 2 Humble to fix cycle time issues in humble-moveit (temporary fix)    
 RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
 
-# Instalation for industrial robots
-
-RUN mkdir -p /home/industrial_ws/src/ABBDriver
-WORKDIR /home/industrial_ws/src/ABBDriver
-RUN git clone https://github.com/PickNikRobotics/abb_ros2.git -b rolling
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && rosdep update
-RUN vcs import < abb_ros2/abb.repos
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
-WORKDIR /home/industrial_ws/src
-RUN git clone https://github.com/ros-controls/gazebo_ros2_control.git
-RUN cd gazebo_ros2_control && git reset --hard 9a3736c # Commit for the 0.4.6 version!
-RUN git clone https://github.com/IFRA-Cranfield/IFRA_LinkAttacher.git
-RUN git clone https://github.com/IFRA-Cranfield/IFRA_ObjectPose.git
-RUN git clone https://github.com/IFRA-Cranfield/IFRA_LinkPose.git
-RUN git clone https://github.com/IFRA-Cranfield/ros2_RobotiqGripper.git
-# Forked needed in order to read the parameters from main launcher
-RUN git clone https://github.com/javizqh/ros2_SimRealRobotControl
-RUN sudo cp /home/industrial_ws/src/ros2_SimRealRobotControl/include/move_group_interface_improved.h /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h
-WORKDIR /home/industrial_ws
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
-
 # Create workspace and add drone packages
-RUN echo "source /usr/share/gazebo/setup.bash" >> ~/.bashrc
 RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 RUN echo 'export AEROSTACK2_PATH=/home/drones_ws/src/aerostack2' >> ~/.bashrc
 RUN echo 'source $AEROSTACK2_PATH/as2_cli/setup_env.bash' >> ~/.bashrc
 RUN echo "source /home/drones_ws/install/setup.bash" >> ~/.bashrc
-RUN echo "source /home/industrial_ws/install/setup.bash" >> ~/.bashrc
 
 # Download and install OMPL library
 COPY install-ompl-ubuntu.sh /
 WORKDIR /
 RUN chmod u+x install-ompl-ubuntu.sh
-RUN ./install-ompl-ubuntu.sh --github --python
+RUN ./install-ompl-ubuntu.sh --github --python && rm -rf /ompl
+
+# Clone and build gz_ros2_control for Gazebo Harmonic (gz-sim8)
+# This is required for Pick Place Harmonic exercise controller loading
+WORKDIR /home/ws/src
+RUN git clone --depth 1 https://github.com/ros-controls/gz_ros2_control.git -b humble
+WORKDIR /home/ws
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
+  export GZ_VERSION=harmonic && \
+  colcon build --packages-select gz_ros2_control --allow-overriding gz_ros2_control"
+WORKDIR /
\ No newline at end of file
diff --git a/scripts/Dockerfile.humble b/scripts/Dockerfile.humble
index b6f09b0..397f491 100644
--- a/scripts/Dockerfile.humble
+++ b/scripts/Dockerfile.humble
@@ -4,45 +4,45 @@ WORKDIR /
 
 # RoboticsInfrasctructure Repository
 ARG ROBOTICS_INFRASTRUCTURE=$ROBOTICS_INFRASTRUCTURE
-RUN mkdir -p /opt/jderobot && \
-    git clone --depth 1 https://github.com/JdeRobot/RoboticsInfrastructure.git -b $ROBOTICS_INFRASTRUCTURE /opt/jderobot
-
-# create workspace and add Robot packages
-RUN mkdir -p /home/ws/src
-RUN mv /opt/jderobot/CustomRobots /opt/jderobot/jderobot_drones /home/ws/src/
-RUN mv /opt/jderobot/resources /resources
+# Launchers/, Worlds/, Universes/ are intentionally retained in /opt/jderobot (hardcoded in all launch files).
+# Only .git history is stripped to recover extra space.
+RUN mkdir -p /opt/jderobot /home/ws/src && \
+    git clone --depth 1 https://github.com/JdeRobot/RoboticsInfrastructure.git -b $ROBOTICS_INFRASTRUCTURE /opt/jderobot && \
+    mv /opt/jderobot/CustomRobots /opt/jderobot/jderobot_drones /opt/jderobot/jderobot_drones_cpp /opt/jderobot/Industrial /opt/jderobot/common_interfaces_cpp /home/ws/src/ && \
+    mv /opt/jderobot/resources /resources && \
+    mv -t / /opt/jderobot/scripts/.env /opt/jderobot/scripts/entrypoint.sh /opt/jderobot/scripts/ram_entrypoint.py /opt/jderobot/scripts/test/check_device.py /opt/jderobot/scripts/set_dri_name.sh /opt/jderobot/scripts/check_ram_version.sh && \
+    mv -f /opt/jderobot/scripts/rc.xml /etc/xdg/openbox/LXDE/rc.xml && \
+    chmod +x /entrypoint.sh /set_dri_name.sh && \
+    rm -rf /opt/jderobot/.git \
+    /opt/jderobot/.github \
+    /opt/jderobot/database \
+    /opt/jderobot/deprecated_assets \
+    /opt/jderobot/Docs \
+    /opt/jderobot/scripts \
+    /opt/jderobot/test \
+    /opt/jderobot/Universes \
+    /opt/jderobot/utils \
+    && rm -f /opt/jderobot/Scenes/*.glb
 
 ARG IMAGE_TAG
 ENV IMAGE_TAG=${IMAGE_TAG}
 
 # Clone the RoboticsApplicationManager repository into the src folder inside RoboticsAcademy
-ARG RAM=$RAM
-RUN git clone https://github.com/JdeRobot/RoboticsApplicationManager.git -b $RAM /RoboticsApplicationManager
-
-# copy scripts
-RUN mv -t / /opt/jderobot/scripts/.env  /opt/jderobot/scripts/entrypoint.sh /opt/jderobot/scripts/start_vnc.sh  /opt/jderobot/scripts/start_vnc_gpu.sh /opt/jderobot/scripts/kill_all.sh /opt/jderobot/scripts/test/check_device.py /opt/jderobot/scripts/set_dri_name.sh
-
-# give execution permissions
-WORKDIR /
-RUN chmod +x /start_vnc.sh /kill_all.sh /entrypoint.sh /start_vnc_gpu.sh /set_dri_name.sh
+RUN python3 -m pip install --no-cache-dir robotics_application_manager
 
 # Compiling and sourcing the workspace
 WORKDIR /home/ws
 RUN /bin/bash -c "source /home/drones_ws/install/setup.bash"
-RUN /bin/bash -c "source /home/industrial_ws/install/setup.bash"
-RUN /bin/bash -c "source /opt/ros/humble/setup.bash; colcon build --symlink-install"
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash; colcon build --symlink-install --packages-ignore gz_ros2_control gz_ros2_control_demos"
 
 # Manager websocket
 EXPOSE 7163
 
-# noVNC Console
-EXPOSE 1108
-
-# noVNC Gazebo
-EXPOSE 6080
+# Tools ports
+EXPOSE 6080-6090
 
 WORKDIR /
 
 # Setting environment in both interactive or non-interactive shells
-ENV BASH_ENV /.env
+ENV BASH_ENV=/.env
 ENTRYPOINT ["./entrypoint.sh", "-ns"]
diff --git a/scripts/build.sh b/scripts/build.sh
old mode 100644
new mode 100755
index 4238313..6e9db6a
--- a/scripts/build.sh
+++ b/scripts/build.sh
@@ -1,37 +1,35 @@
 #!/bin/bash
 
 # Default branch if not specified
-ROBOTICS_ACADEMY="master"
-ROBOTICS_INFRASTRUCTURE="noetic-devel"
-RAM="main"
-ROS_DISTRO="noetic"
+ROBOTICS_ACADEMY="humble-devel"
+ROBOTICS_INFRASTRUCTURE="humble-devel"
+RAM="humble-devel"
+ROS_DISTRO="humble"
 IMAGE_TAG="test"
 FORCE_BUILD=false
+FORCE_BUILD_NO_CACHE=false
 
 Help()
 {
-   # Display Help
    echo "Syntax: build.sh [options]"
    echo "Options:"
-   echo "  -h                        Print this Help."
-   echo "  -f                        Force creation of the base image. If omitted, the base image is created only if "
-   echo "                            it doesn't exist."
-   echo "  -a, --academy    <value>  Branch of RoboticsAcademy.               Default: master"
-   echo "  -i, --infra      <value>  Branch of RoboticsInfrastructure.        Default: noetic-devel"
-   echo "  -m, --ram        <value>  Branch of RoboticsApplicationManager.    Default: main"
-   echo "  -r, --ros        <value>  ROS Distro (humble or noetic).           Default: noetic"
-   echo "  -t, --tag        <value>  Tag name of the image.                   Default: test"
+   echo "  -h                           Print this Help."
+   echo "  -f                           Force creation of the base image. If omitted, the base image is created only if it doesn't exist."
+   echo "  -F                           Force creation of the base image without using docker cache."
+   echo "  -a, --academy       <value>  Branch of RoboticsAcademy.               Default: humble-devel"
+   echo "  -i, --infra         <value>  Branch of RoboticsInfrastructure.        Default: humble-devel"
+   echo "  -m, --ram           <value>  Branch of RoboticsApplicationManager.    Default: humble-devel"
+   echo "  -r, --ros           <value>  ROS Distro (humble).                     Default: humble"
+   echo "  -t, --tag           <value>  Tag name of the image.                   Default: test"
    echo
    echo "Example:"
    echo "   ./build.sh -t my_image"
-   echo "   ./build.sh -f -a master -i noetic-devel -m main -r noetic -t my_image" 
-   echo "   ./build.sh -f --academy master --infra noetic-devel --ram main --ros noetic --tag my_image" 
    echo
 }
 
 while [[ $# -gt 0 ]]; do
     case "$1" in
-        -a | --academy) 
+        -a | --academy)
             ROBOTICS_ACADEMY="$2"
             shift 2
             ;;
@@ -55,8 +53,12 @@ while [[ $# -gt 0 ]]; do
             FORCE_BUILD=true
             shift
             ;;
-        -h | --help) # display Help
-            echo "Generates RoboticsAcademy RADI image"
+        -F | --force-no-cache)
+            FORCE_BUILD_NO_CACHE=true
+            shift
+            ;;
+        -h | --help)
+            echo "Generates Robotics Backend image"
             echo
             Help
             exit 0
@@ -76,28 +78,37 @@ echo "ROS_DISTRO:-------------------:$ROS_DISTRO"
 echo "IMAGE_TAG:--------------------:$IMAGE_TAG"
 echo
 
-# Determine Dockerfile based on ROS_DISTRO
-if [[ $ROS_DISTRO == "noetic" ]]; then
-    DOCKERFILE_BASE="Dockerfile.dependencies_noetic"
-    DOCKERFILE="Dockerfile.noetic"
-elif [[ $ROS_DISTRO == "humble" ]]; then
+if [[ $ROS_DISTRO == "humble" ]]; then
     DOCKERFILE_BASE="Dockerfile.dependencies_humble"
     DOCKERFILE="Dockerfile.humble"
 else
-    echo "Error: Unknown ROS_DISTRO ($ROS_DISTRO). Please set it to 'noetic' or 'humble'."
+    echo "Error: Unknown ROS_DISTRO ($ROS_DISTRO). Please set it to 'humble'."
     exit 1
 fi
 
-# Build the Docker Base image
-if $FORCE_BUILD || [[ "$(docker images -q jderobot/robotics-applications:dependencies-$ROS_DISTRO 2> /dev/null)" == "" ]]; then
+if $FORCE_BUILD_NO_CACHE; then
+  NO_CACHE="--no-cache"
+else
+  NO_CACHE=""
+fi
+
+if $FORCE_BUILD_NO_CACHE || $FORCE_BUILD || [[ "$(docker images -q jderobot/robotics-applications:dependencies-$ROS_DISTRO 2> /dev/null)" == "" ]]; then
   echo "===================== BUILDING $ROS_DISTRO BASE IMAGE ====================="
   echo "Building base using $DOCKERFILE_BASE for ROS $ROS_DISTRO"
-  docker build -f $DOCKERFILE_BASE -t jderobot/robotics-applications:dependencies-$ROS_DISTRO .
+  docker build $NO_CACHE -f $DOCKERFILE_BASE \
+    --build-arg TARGETARCH=$(uname -m | sed 's/x86_64/amd64/;s/arm64/arm64/') \
+    -t jderobot/robotics-applications:dependencies-$ROS_DISTRO .
+fi
+
+if [ $? -eq 0 ]; then
+    echo "Docker Base Image Build Successful"
+else
+    echo "Docker Base Image Build FAILED...exiting"
+    exit
 fi
 
-# Build the Docker image
-echo "===================== BUILDING $ROS_DISTRO RADI ====================="
-echo "Building RADI using $DOCKERFILE for ROS $ROS_DISTRO"
+echo "===================== BUILDING $ROS_DISTRO Robotics Backend ====================="
+echo "Building Robotics Backend using $DOCKERFILE for ROS $ROS_DISTRO"
 
 docker build --no-cache -f $DOCKERFILE \
   --build-arg ROBOTICS_ACADEMY=$ROBOTICS_ACADEMY \
@@ -105,4 +116,5 @@ docker build --no-cache -f $DOCKERFILE \
   --build-arg RAM=$RAM \
   --build-arg ROS_DISTRO=$ROS_DISTRO \
   --build-arg IMAGE_TAG=$IMAGE_TAG \
-  -t jderobot/robotics-academy:$IMAGE_TAG .
+  -t jderobot/robotics-backend:$IMAGE_TAG .
+  
\ No newline at end of file
diff --git a/scripts/config-nvidia-libs.py b/scripts/config-nvidia-libs.py
new file mode 100644
index 0000000..9748328
--- /dev/null
+++ b/scripts/config-nvidia-libs.py
@@ -0,0 +1,12 @@
+"""
+Auxiliary script for setting the Nvidia libraries in the RADI
+
+Register all pip-installed nvidia .so files with ldconfig so onnxruntime-gpu
+finds them regardless of whether pip used site-packages or dist-packages
+"""
+
+import sysconfig, pathlib
+
+site = pathlib.Path(sysconfig.get_path("purelib"))
+conf = "\n".join(str(d) for d in site.glob("nvidia/*/lib") if d.is_dir())
+pathlib.Path("/etc/ld.so.conf.d/nvidia-pip.conf").write_text(conf + "\n")
diff --git a/scripts/gpu/virtualgl32_3.0.2_amd64.deb b/scripts/gpu/virtualgl32_3.0.2_amd64.deb
deleted file mode 100644
index 4409470..0000000
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diff --git a/scripts/gpu/virtualgl32_3.1.4_amd64.deb b/scripts/gpu/virtualgl32_3.1.4_amd64.deb
new file mode 100644
index 0000000..dc06ed7
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diff --git a/scripts/gpu/virtualgl_3.0.2_amd64.deb b/scripts/gpu/virtualgl_3.0.2_amd64.deb
deleted file mode 100644
index 06f6f2b..0000000
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diff --git a/scripts/gpu/virtualgl_3.1.4_amd64.deb b/scripts/gpu/virtualgl_3.1.4_amd64.deb
new file mode 100644
index 0000000..8f7b461
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