diff --git a/.devcontainer/cloud/devcontainer.json b/.devcontainer/cloud/devcontainer.json
new file mode 100644
index 0000000..cf4dadc
--- /dev/null
+++ b/.devcontainer/cloud/devcontainer.json
@@ -0,0 +1,15 @@
+{
+  "name": "Webots Cloud Based",
+  "dockerComposeFile": [
+    "../../docker-composes/docker-compose-gui-nvidia.yml" // Alternatives: "../docker/docker-compose-gui.yml", "../docker/docker-compose-gui-nvidia.yml", "../docker/docker-compose-nvidia.yml"
+  ],
+  "service": "webots_docker",
+  "workspaceFolder": "/workspace",
+  "shutdownAction": "stopCompose",
+  "remoteEnv": {},
+  "postAttachCommand": "",
+  "postCreateCommand": "",
+  "postStartCommand": "",
+  "initializeCommand": "echo 'webots cloud based'",
+  "extensions": [],
+}
\ No newline at end of file
diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
new file mode 100644
index 0000000..cf4dadc
--- /dev/null
+++ b/.devcontainer/nvidia/devcontainer.json
@@ -0,0 +1,15 @@
+{
+  "name": "Webots Cloud Based",
+  "dockerComposeFile": [
+    "../../docker-composes/docker-compose-gui-nvidia.yml" // Alternatives: "../docker/docker-compose-gui.yml", "../docker/docker-compose-gui-nvidia.yml", "../docker/docker-compose-nvidia.yml"
+  ],
+  "service": "webots_docker",
+  "workspaceFolder": "/workspace",
+  "shutdownAction": "stopCompose",
+  "remoteEnv": {},
+  "postAttachCommand": "",
+  "postCreateCommand": "",
+  "postStartCommand": "",
+  "initializeCommand": "echo 'webots cloud based'",
+  "extensions": [],
+}
\ No newline at end of file
diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml
index f22ce70..bb44f73 100644
--- a/.github/workflows/docker-image.yml
+++ b/.github/workflows/docker-image.yml
@@ -34,8 +34,8 @@ jobs:
         echo "WEBOTS_VERSION=${WEBOTS_VERSION}" >> $GITHUB_ENV
     - name: Build the Docker image
       run: |
-        docker build . --file Dockerfile --tag $IMAGE_NAME:$IMAGE_TAG --build-arg WEBOTS_VERSION=$WEBOTS_VERSION --build-arg BASE_IMAGE=${{ matrix.BASE_IMAGE }} --build-arg WEBOTS_PACKAGE_PREFIX=${{ matrix.WEBOTS_PACKAGE_PREFIX }}
-        docker build . --file Dockerfile_webots_cloud --tag $CLOUD_IMAGE_NAME:$IMAGE_TAG --build-arg WEBOTS_VERSION=$WEBOTS_VERSION --build-arg BASE_IMAGE=$IMAGE_NAME:$IMAGE_TAG
+        docker build . --file dockerfiles/Dockerfile.nvidia --tag $IMAGE_NAME:$IMAGE_TAG --build-arg WEBOTS_VERSION=$WEBOTS_VERSION --build-arg BASE_IMAGE=${{ matrix.BASE_IMAGE }} --build-arg WEBOTS_PACKAGE_PREFIX=${{ matrix.WEBOTS_PACKAGE_PREFIX }}
+        docker build . --file dockerfiles/Dockerfile.cloud --tag $CLOUD_IMAGE_NAME:$IMAGE_TAG --build-arg WEBOTS_VERSION=$WEBOTS_VERSION --build-arg BASE_IMAGE=$IMAGE_NAME:$IMAGE_TAG
     - name: Log into registry
       run: echo "${{ secrets.DOCKER_PASSWORD }}" | docker login --username=${{ secrets.DOCKER_USERNAME }} --password-stdin
     - name: Push image
@@ -77,8 +77,8 @@ jobs:
           echo "WEBOTS_VERSION=${WEBOTS_VERSION}" >> $GITHUB_ENV
       - name: Build image
         run: |
-          docker build . --file Dockerfile --tag $IMAGE_NAME:$IMAGE_TAG --build-arg WEBOTS_VERSION=$WEBOTS_VERSION --build-arg BASE_IMAGE=${{ matrix.BASE_IMAGE }} --build-arg WEBOTS_PACKAGE_PREFIX=${{ matrix.WEBOTS_PACKAGE_PREFIX }}
-          docker build . --file Dockerfile_webots_cloud --tag $CLOUD_IMAGE_NAME:$IMAGE_TAG --build-arg WEBOTS_VERSION=$WEBOTS_VERSION --build-arg BASE_IMAGE=$IMAGE_NAME:$IMAGE_TAG
+          docker build . --file dockerfiles/Dockerfile.nvidia --tag $IMAGE_NAME:$IMAGE_TAG --build-arg WEBOTS_VERSION=$WEBOTS_VERSION --build-arg BASE_IMAGE=${{ matrix.BASE_IMAGE }} --build-arg WEBOTS_PACKAGE_PREFIX=${{ matrix.WEBOTS_PACKAGE_PREFIX }}
+          docker build . --file dockerfiles/Dockerfile.cloud --tag $CLOUD_IMAGE_NAME:$IMAGE_TAG --build-arg WEBOTS_VERSION=$WEBOTS_VERSION --build-arg BASE_IMAGE=$IMAGE_NAME:$IMAGE_TAG
       - name: Log into registry
         run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
       - name: Push image
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 11588b9..65064a5 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -19,5 +19,5 @@ jobs:
             docker-compose --file docker-compose.test.yml build
             docker-compose --file docker-compose.test.yml run sut
           else
-            docker build . --file Dockerfile --build-arg BASE_IMAGE=${{ matrix.BASE_IMAGE }} --build-arg WEBOTS_PACKAGE_PREFIX=${{ matrix.WEBOTS_PACKAGE_PREFIX }}
+            docker build . --file ./dockerfiles/Dockerfile.nvidia --build-arg BASE_IMAGE=${{ matrix.BASE_IMAGE }} --build-arg WEBOTS_PACKAGE_PREFIX=${{ matrix.WEBOTS_PACKAGE_PREFIX }}
           fi
diff --git a/README.md b/README.md
index 40180d6..da0111e 100644
--- a/README.md
+++ b/README.md
@@ -7,28 +7,43 @@
 This repository is used to create a Docker image with Webots already pre-installed.
 To use the already available image please follow the [Webots installation instructions](https://cyberbotics.com/doc/guide/installation-procedure#installing-the-docker-image).
 
-## Build the Image
+## Build the Images
 
 Use the following command to build the docker container from the Dockerfile:
 
+### Build with Nvidia
+
 ``` bash
-docker build . --file Dockerfile --tag cyberbotics/webots:latest --build-arg WEBOTS_PACKAGE_PREFIX=_ubuntu-22.04
+docker build . --file dockerfiles/Dockerfile.nvidia --tag cyberbotics/webots:latest --build-arg BASE_IMAGE=nvidia/cuda:11.8.0-base-ubuntu22.04 --build-arg WEBOTS_VERSION=R2023b --build-arg WEBOTS_PACKAGE_PREFIX=_ubuntu-22.04
 ```
 
-## Build the Webots.Cloud Images
+### Build the Webots.Cloud Images
 
-Use the following command to build the docker container from the Dockerfile_webots_cloud:
+Use the following command to build the docker container from the Dockerfile Webots Cloud:
 
 ``` bash
-docker build . --file Dockerfile_webots_cloud --tag cyberbotics/webots.cloud:latest
+docker build . --file dockerfiles/Dockerfile.cloud --tag cyberbotics/webots.cloud:latest --build-arg BASE_IMAGE=cyberbotics/webots:latest --build-arg WEBOTS_VERSION=R2023b
+
 ```
 
 ## Run a Docker container from the Image
 
-You can run the previously built image with:
+
+### Running Webots in Docker with GPU Support
+
+``` bash
+docker run --gpus=all -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix cyberbotics/webots:latest webots --stdout --stderr --batch --mode=realtime
+```
+### Running Webots with GPU in Container
+
+``` bash
+docker run --gpus=all -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix cyberbotics/webots:latest /bin/bash
+```
+
+### Running Container
 
 ``` bash
-docker run -it cyberbotics/webots:latest /bin/bash
+docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix cyberbotics/webots:latest /bin/bash
 ```
 
 ## Clean the temporary Images
diff --git a/config/Webots-R2023b.conf b/config/Webots-R2023b.conf
new file mode 100644
index 0000000..4b7ac5e
--- /dev/null
+++ b/config/Webots-R2023b.conf
@@ -0,0 +1,66 @@
+[Directories]
+movies=/root/Videos/
+objects=/root/Documents/
+projects=/root/Documents/
+screenshots=/root/Pictures/
+vrml=/root/Documents/
+www=/root/Documents/
+
+[Editor]
+font="Monospace, 9"
+
+[%General]
+checkWebotsUpdateOnStartup=true
+disableSaveWarning=false
+language=
+numberOfThreads=8
+pythonCommand=python3
+rendering=true
+startupMode=Real-time
+telemetry=false
+theme=webots_night.qss
+
+[Internal]
+firstLaunch=false
+
+[Movie]
+acceleration=1
+caption=false
+quality=90
+resolution=6
+
+[Network]
+cacheSize=1024
+httpProxyHostName=
+httpProxyPassword=
+httpProxyPort=0
+httpProxyType=2
+httpProxyUsername=
+uploadUrl=https://webots.cloud
+
+[OpenGL]
+GTAO=0
+disableAntiAliasing=true
+disableShadows=true
+textureFiltering=0
+textureQuality=0
+
+[RobotWindow]
+browser=
+newBrowserWindow=false
+
+[Sound]
+mute=true
+volume=80
+
+[View3d]
+hideAllCameraOverlays=false
+hideAllDisplayOverlays=false
+hideAllRangeFinderOverlays=false
+
+[VirtualRealityHeadset]
+antiAliasing=false
+enable=false
+trackOrientation=true
+trackPosition=true
+visibleEye=left
diff --git a/docker-composes/.env b/docker-composes/.env
new file mode 100644
index 0000000..49b6780
--- /dev/null
+++ b/docker-composes/.env
@@ -0,0 +1,2 @@
+WORKSPACE_DIR="/workspace"
+
diff --git a/docker-composes/docker-compose-gui-nvidia.yml b/docker-composes/docker-compose-gui-nvidia.yml
new file mode 100644
index 0000000..9ea97ed
--- /dev/null
+++ b/docker-composes/docker-compose-gui-nvidia.yml
@@ -0,0 +1,10 @@
+version: "3.9"
+services:
+  webots_docker:
+    extends:
+      file: docker-compose-gui.yml
+      service: webots_nvidia
+    environment:
+     - NVIDIA_VISIBLE_DEVICES=all
+     - NVIDIA_DRIVER_CAPABILITIES=all
+    runtime: nvidia
diff --git a/docker-composes/docker-compose-gui.yml b/docker-composes/docker-compose-gui.yml
new file mode 100644
index 0000000..77b0540
--- /dev/null
+++ b/docker-composes/docker-compose-gui.yml
@@ -0,0 +1,22 @@
+version: "3.9"
+services:
+  webots_cloud:
+    extends:
+      file: docker-compose.yml
+      service: webots_cloud
+    environment:
+     - DISPLAY=${DISPLAY:-0}
+     - QT_X11_NO_MITSHM=1
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
+  webots_nvidia:
+    extends:
+      file: docker-compose.yml
+      service: webots_nvidia
+    environment:
+     - DISPLAY=${DISPLAY:-0}
+     - QT_X11_NO_MITSHM=1
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
diff --git a/docker-composes/docker-compose-nvidia.yml b/docker-composes/docker-compose-nvidia.yml
new file mode 100644
index 0000000..8088871
--- /dev/null
+++ b/docker-composes/docker-compose-nvidia.yml
@@ -0,0 +1,9 @@
+version: "3.9"
+services:
+  webots_docker:
+    extends:
+      file: docker-compose.yml
+      service: webots_nvidia
+    environment:
+     - NVIDIA_VISIBLE_DEVICES=all
+    runtime: nvidia
diff --git a/docker-composes/docker-compose.yml b/docker-composes/docker-compose.yml
new file mode 100644
index 0000000..9aca517
--- /dev/null
+++ b/docker-composes/docker-compose.yml
@@ -0,0 +1,45 @@
+version: "3.9"
+services:
+  webots_cloud:
+    build:
+      context: ..
+      dockerfile: dockerfiles/Dockerfile.cloud
+      # target: dev
+      args:
+        - WORKSPACE_DIR=${WORKSPACE_DIR}
+        - USERNAME=developer
+        # - USERNAME=${USERNAME:-developer}
+        - UID=${UID:-1000}
+        - GID=${UID:-1000}
+    container_name: webots_cloud
+    environment:
+      - ROS_MASTER_URI=http://${ROBOT_IP}:11311
+      - ROS_IP=${YOUR_IP}
+    image: webots_cloud_template:devel
+    network_mode: "host"
+    tty: true
+    volumes:
+      - ../src:/${WORKSPACE_DIR}/src
+      - ../config/Webots-R2023b.conf:/Webots-R2023b.conf
+  webots_nvidia:
+    build:
+      context: ..
+      dockerfile: dockerfiles/Dockerfile.nvidia
+      # target: dev
+      args:
+        - WORKSPACE_DIR=${WORKSPACE_DIR}
+        - USERNAME=developer
+        # - USERNAME=${USERNAME:-developer}
+        - UID=${UID:-1000}
+        - GID=${UID:-1000}
+    container_name: webots_cloud
+    environment:
+      - ROS_MASTER_URI=http://${ROBOT_IP}:11311
+      - ROS_IP=${YOUR_IP}
+    image: webots_cloud_template:devel
+    network_mode: "host"
+    tty: true
+    volumes:
+      - ../src:/${WORKSPACE_DIR}/src
+      - ../config/Webots-R2023b.conf:/Webots-R2023b.conf
+
diff --git a/Dockerfile_webots_cloud b/dockerfiles/Dockerfile.cloud
similarity index 100%
rename from Dockerfile_webots_cloud
rename to dockerfiles/Dockerfile.cloud
diff --git a/Dockerfile_ikpy b/dockerfiles/Dockerfile.ikpy
similarity index 100%
rename from Dockerfile_ikpy
rename to dockerfiles/Dockerfile.ikpy
diff --git a/Dockerfile b/dockerfiles/Dockerfile.nvidia
similarity index 100%
rename from Dockerfile
rename to dockerfiles/Dockerfile.nvidia
diff --git a/dockerfiles/Webots-R2023b.conf b/dockerfiles/Webots-R2023b.conf
new file mode 100644
index 0000000..4b7ac5e
--- /dev/null
+++ b/dockerfiles/Webots-R2023b.conf
@@ -0,0 +1,66 @@
+[Directories]
+movies=/root/Videos/
+objects=/root/Documents/
+projects=/root/Documents/
+screenshots=/root/Pictures/
+vrml=/root/Documents/
+www=/root/Documents/
+
+[Editor]
+font="Monospace, 9"
+
+[%General]
+checkWebotsUpdateOnStartup=true
+disableSaveWarning=false
+language=
+numberOfThreads=8
+pythonCommand=python3
+rendering=true
+startupMode=Real-time
+telemetry=false
+theme=webots_night.qss
+
+[Internal]
+firstLaunch=false
+
+[Movie]
+acceleration=1
+caption=false
+quality=90
+resolution=6
+
+[Network]
+cacheSize=1024
+httpProxyHostName=
+httpProxyPassword=
+httpProxyPort=0
+httpProxyType=2
+httpProxyUsername=
+uploadUrl=https://webots.cloud
+
+[OpenGL]
+GTAO=0
+disableAntiAliasing=true
+disableShadows=true
+textureFiltering=0
+textureQuality=0
+
+[RobotWindow]
+browser=
+newBrowserWindow=false
+
+[Sound]
+mute=true
+volume=80
+
+[View3d]
+hideAllCameraOverlays=false
+hideAllDisplayOverlays=false
+hideAllRangeFinderOverlays=false
+
+[VirtualRealityHeadset]
+antiAliasing=false
+enable=false
+trackOrientation=true
+trackPosition=true
+visibleEye=left