diff --git a/.dockyman/Makefile b/.dockyman/Makefile
index 97e2b5c..629248a 100644
--- a/.dockyman/Makefile
+++ b/.dockyman/Makefile
@@ -50,7 +50,7 @@ ENV_BUILD := --env-file ${ENV_FILE_BUILD}
 UNAME := $(shell uname)
 DOCKER_INSTALLED := $(shell command -v docker 2> /dev/null)
 DOCKER_COMPOSE_INSTALLED := $(shell command -v docker-compose 2> /dev/null)
-NVIDIA_DOCKER_INSTALLED := $(shell command -v nvidia-docker 2> /dev/null)
+NVIDIA_DOCKER_INSTALLED := $(shell command -v nvidia-container-toolkit 2> /dev/null)
 HAS_NVIDIA_GPU := $(shell lspci | grep -i nvidia)
 HAS_DOCKER_GROUP := $(shell groups $(USER) | grep -o '\bdocker\b')
 
@@ -59,12 +59,24 @@ ifeq ($(UNAME), Linux)
         PACKAGE_MANAGER := apt-get
         DOCKER_INSTALL_CMD := curl -fsSL https://get.docker.com | sh
         DOCKER_COMPOSE_INSTALL_CMD := sudo curl -L "https://github.com/docker/compose/releases/download/v2.23.3/docker-compose-$(shell uname -s)-$(shell uname -m)" -o /usr/local/bin/docker-compose && sudo chmod +x /usr/local/bin/docker-compose
-        NVIDIA_DOCKER_INSTALL_CMD := distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && curl -s -L https://nvidia.github.io/nvidia-docker/$$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list && sudo apt-get update && sudo apt-get install -y nvidia-docker2 && sudo systemctl restart docker
+        NVIDIA_DOCKER_INSTALL_CMD := \
+		                            curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg ; \
+	                                curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+	                                sed 's\#deb https://\#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://\#g' | \
+	                                sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list ; \
+	                                sed -i -e '/experimental/ s/^\#//g' /etc/apt/sources.list.d/nvidia-container-toolkit.list ; \
+	                                sudo apt-get update ; \
+	                                sudo apt-get install -y nvidia-container-toolkit
+
     else ifeq ($(shell cat /etc/os-release | grep '^ID=' | cut -d= -f2), centos)
         PACKAGE_MANAGER := yum
         DOCKER_INSTALL_CMD := sudo yum install -y docker-ce
-        DOCKER_COMPOSE_INSTALL_CMD := sudo curl -L "https://github.com/docker/compose/releases/latest/download/docker-compose-$(shell uname -s)-$(shell uname -m)" -o /usr/local/bin/docker-compose && sudo chmod +x /usr/local/bin/docker-compose
-        NVIDIA_DOCKER_INSTALL_CMD := sudo yum install -y nvidia-docker2
+        DOCKER_COMPOSE_INSTALL_CMD := sudo curl -L "https://github.com/docker/compose/releases/download/2.23.3/docker-compose-$(shell uname -s)-$(shell uname -m)" -o /usr/local/bin/docker-compose && sudo chmod +x /usr/local/bin/docker-compose
+        NVIDIA_DOCKER_INSTALL_CMD := curl -s -L https://nvidia.github.io/libnvidia-container/stable/rpm/nvidia-container-toolkit.repo | \
+		                             sudo tee /etc/yum.repos.d/nvidia-container-toolkit.repo ; \
+									 sudo yum-config-manager --enable nvidia-container-toolkit-experimental ; \
+									 sudo yum install -y nvidia-container-toolkit
+
     else ifeq ($(shell cat /etc/os-release | grep '^ID=' | cut -d= -f2), arch)
         PACKAGE_MANAGER := pacman
         DOCKER_INSTALL_CMD := sudo pacman -S --noconfirm docker
@@ -211,6 +223,27 @@ uninstall-docker:
 			;; \
 	esac
 
+.PHONY: uninstall-nvidia-docker
+uninstall-nvidia-docker:
+	@read -p "This will uninstall NVIDIA Docker. Do you want to proceed? (y/N) " choice; \
+	case "$$choice" in \
+		y|Y) \
+			echo "Uninstalling NVIDIA Docker..."; \
+			if [ -z "$(HAS_NVIDIA_GPU)" ]; then \
+				echo "No NVIDIA GPU detected. Skipping NVIDIA Docker uninstallation."; \
+			else \
+				if dpkg -l | grep -q nvidia-container-toolkit; then \
+					sudo apt-get remove -y nvidia-container-toolkit; \
+					echo "Uninstall complete."; \
+				else \
+					echo "NVIDIA Docker is not installed."; \
+				fi; \
+			fi; \
+			;; \
+		*) \
+			echo "Aborting uninstallation."; \
+			;; \
+	esac
 
 .PHONY: help
 help:
@@ -221,7 +254,8 @@ help:
 	@echo "  add-docker-group           Add current user to the 'docker' group"
 	@echo "  reboot                     Reboot the machine"
 	@echo "  install-all                Install Docker, Docker Compose, NVIDIA Docker, add user to 'docker' group, and reboot"
-	@echo "  uninstall-docker           Uninstall Docker, Docker Compose and NVIDIA Docker"
+	@echo "  uninstall-docker           Uninstall Docker, Docker Compose"
+	@echo "  uninstall-nvidia-docker    Uninstall NVIDIA Docker"
 	@echo "  help                       Display this help message"
 
 
@@ -248,42 +282,66 @@ create_env:
 		echo "GPU_PROFILE=no-gpu" >> ${ENV_FILE_RUN}; \
 	fi
 
-build-base-nocache: stop
+build-base-nocache:
+	${DOCKYMAN_BASE_COMMAND} down --remove-orphans
+	${DOCKYMAN_LOCAL_COMMAND} down --remove-orphans
+
 	@for service in $(DOCKYMAN_BASE_SERVICES); do \
 		echo "Building base image from service '$$service' ..."; \
 		set -e; \
 		ACTION=build_base_nocache ${DOCKYMAN_BASE_COMMAND} run $$service; \
 	done
 
-build-base: stop
+build-base:
+	${DOCKYMAN_BASE_COMMAND} down --remove-orphans
+	${DOCKYMAN_LOCAL_COMMAND} down --remove-orphans
 	@for service in $(DOCKYMAN_BASE_SERVICES); do \
 		echo "Building base image from service '$$service' ..."; \
 		set -e; \
 		ACTION=build_base ${DOCKYMAN_BASE_COMMAND} run $$service; \
 	done
 
-build-local: stop
+remove-build-base:
+	${DOCKYMAN_BASE_COMMAND} down --remove-orphans
+	${DOCKYMAN_LOCAL_COMMAND} down --remove-orphans
+	@for service in $(DOCKYMAN_BASE_SERVICES); do \
+		echo "Removing base image from service '$$service' ..."; \
+		set -e; \
+		ACTION=clean_base ${DOCKYMAN_BASE_COMMAND} run $$service; \
+	done
+
+build-local:
+	${DOCKYMAN_BASE_COMMAND} down --remove-orphans
+	${DOCKYMAN_LOCAL_COMMAND} down --remove-orphans
 	@for service in $(DOCKYMAN_LOCAL_SERVICES); do \
 		echo "Building local image from service '$$service' ..."; \
 		set -e; \
 		ACTION=build_local ${DOCKYMAN_LOCAL_COMMAND} run $$service; \
 	done
 
-pull: stop
+pull:
+	${DOCKYMAN_BASE_COMMAND} down --remove-orphans
+	${DOCKYMAN_LOCAL_COMMAND} down --remove-orphans
 	@for service in $(DOCKYMAN_BASE_SERVICES); do \
 		echo "Pulling base image from service '$$service' ..."; \
 		set -e; \
 		ACTION=pull ${DOCKYMAN_BASE_COMMAND} run $$service; \
 	done
 
-push: stop
+push:
+	${DOCKYMAN_BASE_COMMAND} down --remove-orphans
+	${DOCKYMAN_LOCAL_COMMAND} down --remove-orphans
+
 	@for service in $(DOCKYMAN_BASE_SERVICES); do \
 		echo "Pushing base image from service '$$service' ..."; \
 		set -e; \
 		ACTION=push ${DOCKYMAN_BASE_COMMAND} run $$service; \
 	done
 
-clean: stop
+clean:
+	${DOCKYMAN_BASE_COMMAND} down --remove-orphans
+	${DOCKYMAN_LOCAL_COMMAND} down --remove-orphans
+
 	@echo "Cleaning volumes ...";
 	@${DOCKYMAN_LOCAL_COMMAND} down -v;
 	@echo "Removing env ${ENV_FILE_RUN} ... ";
@@ -304,7 +362,7 @@ dev:
 	@echo "DEVELOPMENT PROFILE updated in ${ENV_FILE_BUILD}";
 	$(MAKE) create_env;
 
-production:
+production: remove-build-base
 	@echo "Configuring PRODUCTION PROFILE..."
 	@if grep -q '^PROFILE=' ${ENV_FILE_BUILD}; then \
 		sed -i 's/^PROFILE=.*/PROFILE=production/' ${ENV_FILE_BUILD}; \
@@ -313,12 +371,12 @@ production:
 	fi;
 	@echo "PRODUCTION PROFILE updated in ${ENV_FILE_BUILD}"; \
 	$(MAKE) create_env;
-    
 
 init-host:
 	bash ${SCRIPTS}/initHost.sh
 
 build: build-base build-local
+	@docker network prune -f
 
 rebuild: clean build-base-nocache build-local
 
@@ -335,7 +393,6 @@ dockyman-run:
 run: default log init-host dockyman-run stop
 
 clean-docker:
-	@docker container prune -f
 	@docker network prune -f
-	@docker image prune -af
+	@docker system prune -af
 	@docker volume prune -f
\ No newline at end of file
diff --git a/.dockyman/services/dockyman.yaml b/.dockyman/services/dockyman.yaml
index 77c51f9..2b51ef0 100644
--- a/.dockyman/services/dockyman.yaml
+++ b/.dockyman/services/dockyman.yaml
@@ -25,7 +25,7 @@
 services:
 
   dockyman:
-    image: iitschri/dockyman:${DOCKYMAN_VER:?err}
+    image: iitschri/dockyman:${DOCKYMAN_VER}
 
     volumes:
       - /var/run/docker.sock:/var/run/docker.sock:ro
diff --git a/base/pyicub-frontend/Dockerfile b/base/pyicub-frontend/Dockerfile
index 05ae1d2..d89205a 100644
--- a/base/pyicub-frontend/Dockerfile
+++ b/base/pyicub-frontend/Dockerfile
@@ -32,6 +32,7 @@ RUN git clone https://github.com/s4hri/pyicub-frontend -b master tmp
 RUN cd tmp && git checkout ${PYICUB_FRONTEND_VERSION}
 RUN cp -a tmp/. /app/pyicub-frontend/
 RUN rm -rf tmp
+
 # Define work directory
 WORKDIR /app/pyicub-frontend
 RUN npm install
diff --git a/build.env b/build.env
index df74610..494ba46 100644
--- a/build.env
+++ b/build.env
@@ -1,13 +1,13 @@
-DOCKYMAN_VER=v1.1
+DOCKYMAN_VER=v1.2
 REPOSITORY=iitschri
 PROFILE=development
 
-VERSION=v7.6-ng
+VERSION=v7.7-ng
 
-ICUB_DISTRO=v2022.02.0-ubuntu20.04
+ICUB_DISTRO=v2022.09.1
 PYICUB_BASE_DOCKER_SRC=${REPOSITORY}/robotology-superbuild-docker:${ICUB_DISTRO}
 PYICUB_BASE_NAME=${REPOSITORY}/pyicub-docker:${VERSION}
-PYICUB_VERSION=v7.6-distro_v2022.02.0-ubuntu20.04
+PYICUB_VERSION=v7.7-distro_v2022.09.1
 PYICUB_FRONTEND_VERSION=v8.0-ng
 PYICUB_FRONTEND_BASE_NAME=${REPOSITORY}/pyicub-frontend-docker:${PYICUB_FRONTEND_VERSION}
 
diff --git a/compose.yaml b/compose.yaml
index 6a33861..371e449 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -12,6 +12,7 @@ services:
 
     env_file:
       - .env
+      - icub.env
       - pyicub.env
 
     command: ["/bin/bash", "-c", "terminator & bash /var/dockyman/scripts/initContainer.sh"]
diff --git a/icub.env b/icub.env
new file mode 100644
index 0000000..ce4326b
--- /dev/null
+++ b/icub.env
@@ -0,0 +1,13 @@
+# iCub configuration
+ICUB_SIMULATION=true
+ICUB_USER=icub
+ICUB_PSW=icub
+ICUB_HOST=icub-head
+ICUB_IP=10.0.0.2
+ICUBSRV_HOST=icubsrv
+ICUBSRV_IP=10.0.0.1
+ICUBSRV_PORT=10000
+ICUB_APPS=/workdir
+
+# YARP configuration
+YARP_FORWARD_LOG_ENABLE=1
\ No newline at end of file
diff --git a/pyicub.env b/pyicub.env
index 017b00f..ea51afa 100644
--- a/pyicub.env
+++ b/pyicub.env
@@ -1,18 +1,3 @@
-# iCub configuration
-ICUB_SIMULATION=true
-ICUB_USER=icub
-ICUB_PSW=icub
-ICUB_HOST=icub-head
-ICUB_IP=10.0.0.2
-ICUBSRV_HOST=icubsrv
-ICUBSRV_IP=10.0.0.1
-ICUBSRV_PORT=10000
-ICUB_APPS=/workdir/apps
-
-# YARP configuration
-YARP_FORWARD_LOG_ENABLE=1
-
-# API configuration
 PYICUB_LOGGING=true
 PYICUB_LOGGING_PATH=/workdir/logs
 PYICUB_API=true
@@ -23,4 +8,3 @@ REACT_APP_NAME=pywebapp
 PORT=${PYICUB_API_FRONTEND_PORT}
 REACT_APP_API=pyicub
 REACT_APP_PROXY=http://${PYICUB_API_PROXY_HOST}:${PYICUB_API_PROXY_PORT}
-REACT_APP_ICUB_SIMULATION=${ICUB_SIMULATION}