diff --git a/Dockerfile b/Dockerfile
index 7c38daa..19cf352 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -53,7 +53,7 @@ RUN emerge --depclean
 RUN rm -rf /tmp/gentoo/usr/bin/python3.12 /tmp/gentoo/usr/bin/python3.12-config
 
 #install onnxruntime from wheel
-ADD onnxruntime-1.16.3-cp311-cp311-linux_i686.whl /tmp/gentoo/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl
+ADD wheels/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl /tmp/gentoo/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl
 RUN pip install /tmp/gentoo/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl && rm /tmp/gentoo/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl
 
 RUN mkdir -p /home/nao/.local &&\
@@ -71,11 +71,15 @@ RUN mkdir -p /home/nao/.local &&\
     make -j12 && \
     make install
 
-RUN mkdir -p /home/nao/.local &&\
-    cd /home/nao/.local &&\
-    git clone https://github.com/victorpaleologue/libqi-python.git && cd libqi-python && \
-    BOOST_VERSION=1.78 PYBIND11_VERSION=2.11.1 python setup.py bdist_wheel -DQI_WITH_TESTS=OFF -Dqi_DIR=/home/nao/.local/libqi/build/sdk/cmake -Dqibuild_DIR=/home/nao/.local/qibuild/cmake/qibuild && \
-    pip install dist/*.whl
+# RUN mkdir -p /home/nao/.local &&\
+#     cd /home/nao/.local &&\
+#     git clone https://github.com/victorpaleologue/libqi-python.git && cd libqi-python && \
+#     BOOST_VERSION=1.78 PYBIND11_VERSION=2.11.1 python setup.py bdist_wheel -DQI_WITH_TESTS=OFF -Dqi_DIR=/home/nao/.local/libqi/build/sdk/cmake -Dqibuild_DIR=/home/nao/.local/qibuild/cmake/qibuild && \
+#     pip install dist/*.whl
+
+#install libqi-python from wheel
+ADD wheels/qi-3.1.0-cp311-cp311-linux_i686.whl /tmp/gentoo/qi-3.1.0-cp311-cp311-linux_i686.whl
+RUN pip install /tmp/gentoo/qi-3.1.0-cp311-cp311-linux_i686.whl && rm /tmp/gentoo/qi-3.1.0-cp311-cp311-linux_i686.whl
 
 RUN cd /home/nao/.local && \
     git clone -b vosk --single-branch https://github.com/alphacep/kaldi \
@@ -148,13 +152,18 @@ RUN . ~/ros2_humble/install/local_setup.bash &&\
     git clone https://github.com/ros/diagnostics && \
     cd .. && colcon build --symlink-install  --cmake-args -DBUILD_TESTING=OFF
 
-RUN cd .local && git clone https://github.com/tensorflow/tensorflow.git tensorflow_src
-RUN cd .local/tensorflow_src && \
-    PYTHON=python3.11 tensorflow/lite/tools/pip_package/build_pip_package_with_cmake.sh silvermont
-RUN pip install /data/home/nao/.local/tensorflow_src/tensorflow/lite/tools/pip_package/gen/tflite_pip/python3/dist/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
+# Build tensorflow lite - legacy, can be used for debuging purposes
+# RUN cd .local && git clone https://github.com/tensorflow/tensorflow.git tensorflow_src
+# RUN cd .local/tensorflow_src && \
+#     PYTHON=python3.11 tensorflow/lite/tools/pip_package/build_pip_package_with_cmake.sh silvermont
+# RUN pip install /data/home/nao/.local/tensorflow_src/tensorflow/lite/tools/pip_package/gen/tflite_pip/python3/dist/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
+
+#install tflite from wheel
+ADD wheels/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl /tmp/gentoo/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
+RUN pip install /tmp/gentoo/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl && rm /tmp/gentoo/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
 
 RUN ls  /home/nao/.local
-RUN rm -rf pybind11 && cd .local && rm -rf vosk-api libqi libqi-python qibuild tensorflow_src
+RUN rm -rf pybind11 && cd .local && rm -rf vosk-api libqi libqi-python qibuild
 # # # cleanup space first
 RUN rm -rf /tmp/gentoo/var/cache/binpkgs/* /tmp/gentoo/var/tmp/* /home/nao/.cache/* /home/nao/gentoo/var/cache/distfiles/*
 # Hack to earn extra 500MB~
@@ -168,7 +177,6 @@ USER nao
 
 SHELL ["/tmp/gentoo/executeonprefix"]
 
-RUN ls
 RUN cd /home/nao && tar -c --lzma -f /tmp/pepper_os.tar.lzma -C /home/nao gentoo -C  /home/nao ros2_humble -C /home/nao .local -C /home/nao .bash_profile -C /home/nao naoqi -C /home/nao catkin_ros2 || true
 
 ENTRYPOINT ["/bin/bash"]
\ No newline at end of file
diff --git a/Dockerfile_interactive b/Dockerfile_interactive
index 982009b..24eeaeb 100644
--- a/Dockerfile_interactive
+++ b/Dockerfile_interactive
@@ -1,17 +1,12 @@
-FROM awesomebytes/pepper_2.5.5.5 AS base-gentoo
+FROM awesomebytes/pepper_2.5.5.5
 
 USER nao
 WORKDIR /home/nao
 
-#Download and install the custom made pepper_os.
-RUN cat /proc/cpuinfo; cat /proc/meminfo; df -h
-
-
-#Loading the pepper_os v11 archive.
-#RUN wget --no-check-certificate -O pepper_os_11.0.4.tar.lzma "https://mycore.core-cloud.net/index.php/s/Rh4EbGqxc05W3ap/download?path=%2F&files=pepper_os_11.0.4.tar.lzma"
-COPY ./pepper_os_11.0.4.tar.lzma ./pepper_os_11.0.4.tar.lzma
-RUN tar --lzma -xvf pepper_os_11.0.4.tar.lzma &&\
-    rm pepper_os_11.0.4.tar.lzma
+#Loading the ros2-prepared archive
+COPY gentoo_prefix_base.tar.lzma  ./gentoo_prefix_base.tar.lzma
+RUN tar --lzma -xvf gentoo_prefix_base.tar.lzma &&\
+    rm gentoo_prefix_base.tar.lzma
 
 # Fix permissions of tmp
 USER root
@@ -22,127 +17,150 @@ USER nao
 RUN cd /tmp && ln -s /home/nao/gentoo gentoo &&\
     cp /etc/group /tmp/gentoo/etc/group || true &&\
     cp /etc/passwd /tmp/gentoo/etc/passwd || true
-# To make sure everything builds and reports i686 we do this trick
-RUN sed -i 's/env -i/linux32 env -i/' /tmp/gentoo/executeonprefix
+# # To make sure everything builds and reports i686 we do this trick
+# RUN sed -i 's/env -i/linux32 env -i/' /tmp/gentoo/executeonprefix
 # To allow the use of the $EPREFIX variable
 RUN sed -i 's/SHELL=$SHELL"/SHELL=$SHELL EPREFIX=$EPREFIX"/' /tmp/gentoo/executeonprefix
 
 # And now switch the shell so every RUN command is executed in it
 SHELL ["/tmp/gentoo/executeonprefix"]
 
-# THIS IS VERY UNSAFE FOR THE STABILITY OF THE OS
-RUN emaint sync -a
-FROM base-gentoo AS interactive
-WORKDIR /home/nao/
-
-# update pip
-RUN python3.8 -m pip install --upgrade pip
-
-#Add configuration files.
-#COPY --chown=nao:nao config/.gitconfig /home/nao/
-#COPY --chown=nao:nao config/.my-credentials /home/nao/
-#COPY --chown=nao:nao config/.git-credentials /home/nao/
-COPY --chown=nao:nao config/.bash_profile /home/nao/
-COPY --chown=nao:nao config/.vimrc /home/nao/
-#ADD  --chown=nao:nao config/.vim_runtime /home/nao/.vim_runtime
-COPY --chown=nao:nao config/.bash_profile /home/nao/.bash_profile
-
-# Remove obsolete packages
-RUN cd /home/nao/.local &&\
-    rm -rf vosk-api rtabmap qibuild opencv_contrib opencv-4.5.5 kaldi &&\
-    cd /tmp/gentoo/var/cache &&\
-    rm -rf *
-
-#Select python3.8 as the default version and hiding python3.10 to prevent colcon from building ROS2 using a mix of python3.8 and python3.10.
-RUN eselect python set python3.8
-RUN mv /tmp/gentoo/usr/bin/python3.10 /tmp/gentoo/usr/bin/python3.10_temp
-
-#Install ROS2 python dependencies
-RUN python3.8 -m ensurepip --upgrade
-RUN python3.8 -m pip install opencv-python colcon-common-extensions coverage flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes mock mypy pep8 pydocstyle pytest pytest-mock vcstool empy lark
-
-#Install asio (Required by ROS2)
-RUN cd ~/ &&\
- wget https://sourceforge.net/projects/asio/files/asio/1.28.0%20%28Stable%29/asio-1.28.0.tar.gz &&\
- tar -xzf asio-1.28.0.tar.gz &&\
- cd asio-1.28.0/ &&\
- autoreconf -i &&\
- ./configure &&\
- make &&\
- make prefix=/tmp/gentoo/usr libdir=/tmp/gentoo/lib install 
+# Let's make the compilations faster when possible
+# Substitute the default -j2 with -j<NUM_CORES/2>
+RUN sed -i -e 's/j1/j'"$((`grep -c \^processor \/proc\/cpuinfo` / 2))"'/g' $EPREFIX/etc/portage/make.conf
+# Add extra jobs if we have enough CPUs
+RUN sed -i 's/EMERGE_DEFAULT_OPTS=.*//' $EPREFIX/etc/portage/make.conf &&\
+    echo "EMERGE_DEFAULT_OPTS=\"--jobs $((`grep -c \^processor \/proc\/cpuinfo` / 2)) --load-average `grep -c \^processor \/proc\/cpuinfo`\"" >> $EPREFIX/etc/portage/make.conf
+
+# ONNX won't install protoc correctly by default so we do it beforehand
+# RUN cd ~/.local && wget https://github.com/protocolbuffers/protobuf/releases/download/v21.12/protoc-21.12-linux-x86_32.zip && \
+#     unzip -o protoc-21.12-linux-x86_32.zip -d /tmp/gentoo/usr/local/ bin/protoc && \
+#     unzip -o protoc-21.12-linux-x86_32.zip -d /tmp/gentoo/usr/local/ 'include/*' && \
+#     ldconfig && \
+#     rm protoc-21.12-linux-x86_32.zip
+
+# # build latest onnxruntime version - for whatever reason only the v1.16.3 version can compile here
+# RUN cd .local && git clone --recursive https://github.com/Microsoft/onnxruntime.git && \
+#     cd onnxruntime && git checkout v1.16.3 && \ 
+#     ./build.sh --config Release --parallel --build_wheel --disable_ml_ops --update --build --build_shared_lib --cmake_extra_defines CMAKE_INSTALL_PREFIX=/tmp/gentoo/usr CMAKE_CXX_FLAGS="-mavx" CMAKE_SYSTEM_NAME=Linux CMAKE_SYSTEM_PROCESSOR=i686 ONNX_CUSTOM_PROTOC_EXECUTABLE=/tmp/gentoo/usr/local/bin/protoc && \
+#     cd build/Linux/Release/ && \
+#     make install && \
+#     cd dist && pip install *.whl
+
+# remove python3.12
+RUN emerge --unmerge python:3.12
+RUN emerge --depclean
+RUN rm -rf /tmp/gentoo/usr/bin/python3.12 /tmp/gentoo/usr/bin/python3.12-config
+
+#install onnxruntime from wheel
+ADD wheels/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl /tmp/gentoo/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl
+RUN pip install /tmp/gentoo/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl && rm /tmp/gentoo/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl
+
+RUN mkdir -p /home/nao/.local &&\
+    cd /home/nao/.local &&\
+    git clone https://github.com/aldebaran/qibuild.git && \
+    cd qibuild && \
+    python -m pip install -e . 
+
+RUN mkdir -p /home/nao/.local &&\
+    cd /home/nao/.local &&\
+    git clone https://github.com/aldebaran/libqi.git -b qi-framework-v3.0.0 && \
+    cd libqi && \
+    mkdir build && cd build && \
+    cmake .. -DQI_WITH_TESTS=OFF -DCMAKE_PREFIX_PATH=/home/nao/.local/qibuild/cmake/qibuild -DCMAKE_INSTALL_PREFIX=/tmp/gentoo/usr -DCMAKE_CXX_FLAGS='-std=c++17' && \
+    make -j12 && \
+    make install
+
+# RUN mkdir -p /home/nao/.local &&\
+#     cd /home/nao/.local &&\
+#     git clone https://github.com/victorpaleologue/libqi-python.git && cd libqi-python && \
+#     BOOST_VERSION=1.78 PYBIND11_VERSION=2.11.1 python setup.py bdist_wheel -DQI_WITH_TESTS=OFF -Dqi_DIR=/home/nao/.local/libqi/build/sdk/cmake -Dqibuild_DIR=/home/nao/.local/qibuild/cmake/qibuild && \
+#     pip install dist/*.whl
+
+#install libqi-python from wheel
+ADD wheels/qi-3.1.0-cp311-cp311-linux_i686.whl /tmp/gentoo/qi-3.1.0-cp311-cp311-linux_i686.whl
+RUN pip install /tmp/gentoo/qi-3.1.0-cp311-cp311-linux_i686.whl && rm /tmp/gentoo/qi-3.1.0-cp311-cp311-linux_i686.whl
+
+RUN cd /home/nao/.local && \
+    git clone -b vosk --single-branch https://github.com/alphacep/kaldi \
+    && cd /home/nao/.local/kaldi/tools \
+    && git clone -b v0.3.13 --single-branch https://github.com/xianyi/OpenBLAS \
+    && git clone -b v3.2.1  --single-branch https://github.com/alphacep/clapack \
+    && make -C OpenBLAS OPENBLAS_TARGET=ATOM TARGET=ATOM ONLY_CBLAS=1 DYNAMIC_ARCH=1 USE_LOCKING=1 USE_THREAD=0 all \
+    && make -C OpenBLAS PREFIX=/home/nao/.local/kaldi/tools/OpenBLAS/install install \
+    && mkdir -p clapack/BUILD && cd clapack/BUILD && cmake .. && make -j 8 || true 
+RUN cd /home/nao/.local/kaldi/tools/clapack/BUILD \
+    && find . -name "*.a" | xargs cp -t ../../OpenBLAS/install/lib \
+    && cd /home/nao/.local/kaldi/tools \
+    && git clone --single-branch https://github.com/alphacep/openfst openfst \
+    && cd openfst \
+    && autoreconf -i \
+    && CFLAGS="-g -O3" CXXFLAGS="-msse -mfpmath=sse" ./configure --prefix=/home/nao/.local/kaldi/tools/openfst --enable-static --enable-shared --enable-far --enable-ngram-fsts --enable-lookahead-fsts --with-pic --disable-bin \
+    && make -j 10 && make install \
+    && cd /home/nao/.local/kaldi/src \
+    && ./configure --mathlib=OPENBLAS_CLAPACK --shared --use-cuda=no \
+    && sed -i 's:-msse -msse2:-msse -msse2:g' kaldi.mk \
+    && sed -i 's: -O1 : -O3 :g' kaldi.mk \
+    && make -j $(nproc) online2 lm rnnlm \
+    && find /home/nao/.local/kaldi -name "*.o" -exec rm {} \;
+    
+# dependencies for vosk
+RUN pip install tqdm cffi requests srt
+RUN cd /home/nao/.local && \
+    git clone https://github.com/alphacep/vosk-api \
+    && cd vosk-api/src \
+    && KALDI_ROOT=/home/nao/.local/kaldi make -j8 \
+    && cd ../python \
+    && python setup.py install
+
+RUN emerge sci-libs/orocos_kdl
+# Need to compile pybind11 from source to fight the redefinition of PyFrameObject:
+# https://github.com/sirfz/tesserocr/issues/298
+RUN git clone https://github.com/pybind/pybind11.git -b v2.10.0 &&  cd pybind11 && \
+    mkdir build && \
+    cd build && \
+    cmake .. -DPYBIND11_PYTHON_VERSION=3.11 -DCMAKE_INSTALL_PREFIX=/tmp/gentoo/usr && \
+    make -j12 && \
+    make install
 
 #Download ROS2
 RUN mkdir -p ~/ros2_humble/src &&\
     cd ~/ros2_humble &&\
     vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src &&\
     #Remove unecessary packages (Unusable display and DDS implementations that do not work on 32 bits OS)
-    rm -rf src/eclipse-cyclonedds src/eclipse-iceoryx src/ros-visualization src/ros2/rviz src/ros/ros_tutorials/turtlesim &&\
+    rm -rf src/eclipse-cyclonedds src/eclipse-iceoryx src/ros-visualization src/ros2/rviz src/ros/ros_tutorials/turtlesim src/ros2/geometry2/tf2_bullet src/ros2/geometry2/test_tf2 &&\
+    cd src && git clone https://github.com/ptrmu/ros2_shared.git && cd .. &&\
     #Build ROS2
-    colcon build --symlink-install &&\
+    colcon build --symlink-install; exit 0
+
+
+RUN cd ~/ros2_humble/ &&\
     #Building will fail due to the mimick package. While compiling mimick downloads and builds mimick_vendor. The CMakeList.txt of mimick_vendor doesn't take into account 32 bits architecture like Pepper and has to be adjusted accordingly.   
     sed -i '61s/.*/  set (_ARCH "x86")/' ~/ros2_humble/build/mimick_vendor/mimick-de11f8377eb95f932a03707b583bf3d4ce5bd3e7-prefix/src/mimick-de11f8377eb95f932a03707b583bf3d4ce5bd3e7/CMakeLists.txt &&\
     colcon build --symlink-install
 
-#Download naoqi_driver
+# #Download and build naoqi_driver2
+# we build without tests because otherwise libqi-release will fail and I'm too lazy to fix it (related to Gtest not allowing c++14 anymore)
 RUN . ~/ros2_humble/install/local_setup.bash &&\
     mkdir -p ~/catkin_ros2/src &&\
     cd ~/catkin_ros2/src/ &&\
-    git clone https://github.com/ros-naoqi/naoqi_driver2 &&\
+    git clone https://github.com/Maelic/naoqi_driver2.git -b patch-1 &&\
     git clone --branch humble https://github.com/ros-perception/vision_opencv &&\  
-    git clone --branch debian/galactic/naoqi_libqi https://github.com/ros-naoqi/libqi-release &&\
-    git clone --branch debian/galactic/naoqi_libqicore https://github.com/ros-naoqi/libqicore-release &&\             
+    git clone --branch release/humble/naoqi_libqi https://github.com/ros-naoqi/libqi-release &&\
+    git clone --branch release/humble/naoqi_libqicore https://github.com/ros-naoqi/libqicore-release &&\             
     git clone https://github.com/ros-naoqi/naoqi_bridge_msgs2 &&\
-    git clone https://github.com/ros/diagnostics
-
-#Adjust several naoqi_driver files to be compatible with ROS2 Humble 
-#As of Humble, Support for rclcpp::Duration(int64 nanoseconds) has been deprecated and removed. This require fixing several bits of code. 
-RUN sed -i '122s/.*/    rclcpp::Duration d(static_cast<std::chrono::nanoseconds>((helpers::Time::now() - msg.header.stamp).nanoseconds()));/' /data/home/nao/catkin_ros2/src/naoqi_driver2/src/recorder/basic_event.hpp
-
-RUN sed -i '132s/.*/    rclcpp::Duration d(static_cast<std::chrono::nanoseconds>((time - msg.header.stamp).nanoseconds()));/' /data/home/nao/catkin_ros2/src/naoqi_driver2/src/recorder/basic_event.hpp
-
-RUN sed -i '294s/.*/            rclcpp::Duration d(static_cast<std::chrono::nanoseconds>((schedule - this->now()).nanoseconds()));/' /data/home/nao/catkin_ros2/src/naoqi_driver2/src/naoqi_driver.cpp
-
-#The declare_parameters(char* parameter_name) function doesn't exist and requires at least a second parameter. 
-RUN sed -i '42s#.*#  rclcpp::ParameterValue value = node->declare_parameter(parameter_name, rclcpp::PARAMETER_STRING);#' /data/home/nao/catkin_ros2/src/naoqi_driver2/src/publishers/info.cpp
-
-#Humble no longer supports node_executable and node_name, those have to be changed to executable and name respectively. 
-RUN sed -i '35s#.*#            executable="naoqi_driver_node",#' /data/home/nao/catkin_ros2/src/naoqi_driver2/launch/naoqi_driver.launch.py
-
-RUN sed -i '36s#.*#            name=[launch.substitutions.LaunchConfiguration("namespace")],#' /data/home/nao/catkin_ros2/src/naoqi_driver2/launch/naoqi_driver.launch.py
-
-#Compile naoqi_driver
-RUN cd ~/catkin_ros2 &&\
-    . ~/ros2_humble/install/local_setup.bash &&\
-    colcon build --symlink-install
-
-# CLEAN UP
-RUN rm -rf /tmp/gentoo/usr/bin/python3.10_temp /tmp/gentoo/usr/bin/python3.10-config
-RUN rm -rf /tmp/gentoo/usr/lib/python3.10
-RUN rm /tmp/gentoo/usr/lib/*python3.10* || true
-RUN rm -rf /tmp/gentoo/usr/include/python3.10
-# remove python 2.7
-RUN rm -rf /tmp/gentoo/usr/lib/python2.7
-RUN rm /tmp/gentoo/usr/lib/*python2.7* || true
-RUN rm -rf /tmp/gentoo/usr/include/python2.7
-
-RUN rm -rf asio-1.28.0 && rm asio-1.28.0.tar.gz
-#Deleting older version of ROS
-RUN rm -rf /home/nao/gentoo/opt/ros/noetic
-
-# # # cleanup space first
-RUN rm -rf /tmp/gentoo/var/cache/binpkgs/* /tmp/gentoo/var/tmp/* /home/nao/.cache/* /home/nao/gentoo/var/cache/distfiles/*
-# Hack to earn extra 500MB~
-SHELL ["/bin/sh", "-c"]
-USER root
-# Remove all .git directories
-RUN find /home/nao -name ".git" -type d -exec rm -rf {} \; || true
-RUN rm -rf /opt
-RUN du -sh /tmp/gentoo
-USER nao
-
-#Compress archive to lzma format.
-#WARNING: This operation takes about an hour and a half.
-#cd /home/nao; tar -c --lzma -f /tmp/pepper_os.tar.lzma -C /home/nao gentoo -C  /home/nao asio-1.28.0 -C /home/nao ros2_humble -C /home/nao .local -C /home/nao .bash_profile -C /home/nao naoqi -C /home/nao catkin_ros2 || true
+    git clone https://github.com/ros/diagnostics && \
+    cd .. && colcon build --symlink-install  --cmake-args -DBUILD_TESTING=OFF
+
+# Build tensorflow lite - legacy, can be used for debuging purposes
+# RUN cd .local && git clone https://github.com/tensorflow/tensorflow.git tensorflow_src
+# RUN cd .local/tensorflow_src && \
+#     PYTHON=python3.11 tensorflow/lite/tools/pip_package/build_pip_package_with_cmake.sh silvermont
+# RUN pip install /data/home/nao/.local/tensorflow_src/tensorflow/lite/tools/pip_package/gen/tflite_pip/python3/dist/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
+
+#install tflite from wheel
+ADD wheels/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl /tmp/gentoo/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
+RUN pip install /tmp/gentoo/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl && rm /tmp/gentoo/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
 
 SHELL ["/tmp/gentoo/executeonprefix"]
 CMD ["/home/nao/gentoo/startprefix"]
diff --git a/Dockerfile_old b/Dockerfile_old
deleted file mode 100644
index dbec18a..0000000
--- a/Dockerfile_old
+++ /dev/null
@@ -1,171 +0,0 @@
-FROM awesomebytes/pepper_2.5.5.5 AS base-gentoo
-
-USER nao
-WORKDIR /home/nao
-
-#Download and install the custom made pepper_os.
-RUN cat /proc/cpuinfo; cat /proc/meminfo; df -h
-
-
-#Loading the pepper_os v11 archive.
-#RUN wget --no-check-certificate -O pepper_os_11.0.4.tar.lzma "https://mycore.core-cloud.net/index.php/s/Rh4EbGqxc05W3ap/download?path=%2F&files=pepper_os_11.0.4.tar.lzma"
-COPY ./pepper_os_11.0.4.tar.lzma ./pepper_os_11.0.4.tar.lzma
-RUN tar --lzma -xvf pepper_os_11.0.4.tar.lzma &&\
-    rm pepper_os_11.0.4.tar.lzma
-
-# Fix permissions of tmp
-USER root
-RUN chmod a=rwx,o+t /tmp
-USER nao
-
-# Prepare environment to run everything in the prefixed shell
-RUN cd /tmp && ln -s /home/nao/gentoo gentoo &&\
-    cp /etc/group /tmp/gentoo/etc/group || true &&\
-    cp /etc/passwd /tmp/gentoo/etc/passwd || true
-# To make sure everything builds and reports i686 we do this trick
-RUN sed -i 's/env -i/linux32 env -i/' /tmp/gentoo/executeonprefix
-# To allow the use of the $EPREFIX variable
-RUN sed -i 's/SHELL=$SHELL"/SHELL=$SHELL EPREFIX=$EPREFIX"/' /tmp/gentoo/executeonprefix
-
-# And now switch the shell so every RUN command is executed in it
-SHELL ["/tmp/gentoo/executeonprefix"]
-
-# THIS IS VERY UNSAFE FOR THE STABILITY OF THE OS
-RUN emaint sync -a
-FROM base-gentoo AS interactive
-WORKDIR /home/nao/
-
-# update pip
-RUN python3.8 -m pip install --upgrade pip
-
-#Add configuration files.
-#COPY --chown=nao:nao config/.gitconfig /home/nao/
-#COPY --chown=nao:nao config/.my-credentials /home/nao/
-#COPY --chown=nao:nao config/.git-credentials /home/nao/
-COPY --chown=nao:nao config/.bash_profile /home/nao/
-COPY --chown=nao:nao config/.vimrc /home/nao/
-#ADD  --chown=nao:nao config/.vim_runtime /home/nao/.vim_runtime
-COPY --chown=nao:nao config/.bash_profile /home/nao/.bash_profile
-
-# Remove obsolete packages
-RUN cd /home/nao/.local &&\
-    rm -rf vosk-api rtabmap qibuild opencv_contrib opencv-4.5.5 kaldi &&\
-    cd /tmp/gentoo/var/cache &&\
-    rm -rf *
-
-#Select python3.8 as the default version and hiding python3.10 to prevent colcon from building ROS2 using a mix of python3.8 and python3.10.
-RUN eselect python set python3.8
-RUN mv /tmp/gentoo/usr/bin/python3.10 /tmp/gentoo/usr/bin/python3.10_temp
-
-#Install ROS2 python dependencies
-RUN python3.8 -m ensurepip --upgrade
-RUN python3.8 -m pip install opencv-python colcon-common-extensions coverage flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes mock mypy pep8 pydocstyle pytest pytest-mock vcstool empy lark
-
-#Install asio (Required by ROS2)
-RUN cd ~/ &&\
- wget https://sourceforge.net/projects/asio/files/asio/1.28.0%20%28Stable%29/asio-1.28.0.tar.gz &&\
- tar -xzf asio-1.28.0.tar.gz &&\
- cd asio-1.28.0/ &&\
- autoreconf -i &&\
- ./configure &&\
- make &&\
- make prefix=/tmp/gentoo/usr libdir=/tmp/gentoo/lib install 
-
-#Download ROS2
-RUN mkdir -p ~/ros2_humble/src &&\
-    cd ~/ros2_humble &&\
-    vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src &&\
-    #Remove unecessary packages (Unusable display and DDS implementations that do not work on 32 bits OS)
-    rm -rf src/eclipse-cyclonedds src/eclipse-iceoryx src/ros-visualization src/ros2/rviz src/ros/ros_tutorials/turtlesim &&\
-    #Build ROS2
-    colcon build --symlink-install &&\
-    #Building will fail due to the mimick package. While compiling mimick downloads and builds mimick_vendor. The CMakeList.txt of mimick_vendor doesn't take into account 32 bits architecture like Pepper and has to be adjusted accordingly.   
-    sed -i '61s/.*/  set (_ARCH "x86")/' ~/ros2_humble/build/mimick_vendor/mimick-de11f8377eb95f932a03707b583bf3d4ce5bd3e7-prefix/src/mimick-de11f8377eb95f932a03707b583bf3d4ce5bd3e7/CMakeLists.txt &&\
-    colcon build --symlink-install
-
-#Download naoqi_driver
-RUN . ~/ros2_humble/install/local_setup.bash &&\
-    mkdir -p ~/catkin_ros2/src &&\
-    cd ~/catkin_ros2/src/ &&\
-    git clone --branch fix_humble https://github.com/victorpaleologue/naoqi_driver2.git &&\
-    git clone --branch humble https://github.com/ros-perception/vision_opencv &&\  
-    git clone --branch debian/galactic/naoqi_libqi https://github.com/ros-naoqi/libqi-release &&\
-    git clone --branch debian/galactic/naoqi_libqicore https://github.com/ros-naoqi/libqicore-release &&\             
-    git clone https://github.com/ros-naoqi/naoqi_bridge_msgs2 &&\
-    git clone https://github.com/ros/diagnostics
-
-# ONNX won't install protoc correctly by default so we do it beforehand
-RUN cd ~/.local && wget https://github.com/protocolbuffers/protobuf/releases/download/v21.12/protoc-21.12-linux-x86_32.zip && \
-    unzip -o protoc-21.12-linux-x86_32.zip -d /tmp/gentoo/usr/local/ bin/protoc && \
-    unzip -o protoc-21.12-linux-x86_32.zip -d /tmp/gentoo/usr/local/ 'include/*' && \
-    ldconfig && \
-    rm protoc-21.12-linux-x86_32.zip
-
-# build latest onnxruntime version - for whatever reason only the v1.16.3 version can compile here
-RUN cd .local && git clone --recursive https://github.com/Microsoft/onnxruntime.git && \
-    cd onnxruntime && git checkout v1.16.3 && \ 
-    ./build.sh --config Release --parallel --build_wheel --disable_ml_ops --update --build --build_shared_lib --cmake_extra_defines CMAKE_INSTALL_PREFIX=/tmp/gentoo/usr CMAKE_CXX_FLAGS="-mavx" CMAKE_SYSTEM_NAME=Linux CMAKE_SYSTEM_PROCESSOR=i686 ONNX_CUSTOM_PROTOC_EXECUTABLE=/tmp/gentoo/usr/local/bin/protoc && \
-    cd build/Linux/Release/ && \
-    make install && \
-    cd dist && pip install *.whl
-
-# install sherpa for speech reco
-RUN cd .local && git clone https://github.com/k2-fsa/sherpa-onnx && \
-    cd sherpa-onnx && mkdir build && cd build && \
-    cmake -DSHERPA_ONNX_ENABLE_PORTAUDIO=OFF -DSHERPA_ONNX_ENABLE_WEBSOCKET=OFF  -DCMAKE_BUILD_TYPE=Release -DCMAKE_SYSTEM_NAME=Linux -DCMAKE_SYSTEM_PROCESSOR=i386 -DCMAKE_CXX_FLAGS="-mavx" -DCMAKE_C_FLAGS="-mavx" -DCMAKE_INSTALL_PREFIX=/tmp/gentoo/usr/ -DSHERPA_ONNX_ENABLE_PYTHON=ON .. && \
-    make -j8 & make install && \
-    export PYTHONPATH=$PWD/../sherpa-onnx/python/:$PWD/lib:$PYTHONPATH
-
-#Adjust several naoqi_driver files to be compatible with ROS2 Humble 
-#As of Humble, Support for rclcpp::Duration(int64 nanoseconds) has been deprecated and removed. This require fixing several bits of code. 
-RUN sed -i '122s/.*/    rclcpp::Duration d(static_cast<std::chrono::nanoseconds>((helpers::Time::now() - msg.header.stamp).nanoseconds()));/' /data/home/nao/catkin_ros2/src/naoqi_driver2/src/recorder/basic_event.hpp
-
-RUN sed -i '132s/.*/    rclcpp::Duration d(static_cast<std::chrono::nanoseconds>((time - msg.header.stamp).nanoseconds()));/' /data/home/nao/catkin_ros2/src/naoqi_driver2/src/recorder/basic_event.hpp
-
-RUN sed -i '294s/.*/            rclcpp::Duration d(static_cast<std::chrono::nanoseconds>((schedule - this->now()).nanoseconds()));/' /data/home/nao/catkin_ros2/src/naoqi_driver2/src/naoqi_driver.cpp
-
-#The declare_parameters(char* parameter_name) function doesn't exist and requires at least a second parameter. 
-RUN sed -i '42s#.*#  rclcpp::ParameterValue value = node->declare_parameter(parameter_name, rclcpp::PARAMETER_STRING);#' /data/home/nao/catkin_ros2/src/naoqi_driver2/src/publishers/info.cpp
-
-#Humble no longer supports node_executable and node_name, those have to be changed to executable and name respectively. 
-RUN sed -i '35s#.*#            executable="naoqi_driver_node",#' /data/home/nao/catkin_ros2/src/naoqi_driver2/launch/naoqi_driver.launch.py
-
-RUN sed -i '36s#.*#            name=[launch.substitutions.LaunchConfiguration("namespace")],#' /data/home/nao/catkin_ros2/src/naoqi_driver2/launch/naoqi_driver.launch.py
-
-#Compile naoqi_driver
-RUN cd ~/catkin_ros2 &&\
-    . ~/ros2_humble/install/local_setup.bash &&\
-    colcon build --symlink-install
-
-# CLEAN UP
-RUN rm -rf /tmp/gentoo/usr/bin/python3.10_temp /tmp/gentoo/usr/bin/python3.10-config
-RUN rm -rf /tmp/gentoo/usr/lib/python3.10
-RUN rm /tmp/gentoo/usr/lib/*python3.10* || true
-RUN rm -rf /tmp/gentoo/usr/include/python3.10
-# remove python 2.7
-RUN rm -rf /tmp/gentoo/usr/lib/python2.7
-RUN rm /tmp/gentoo/usr/lib/*python2.7* || true
-RUN rm -rf /tmp/gentoo/usr/include/python2.7
-
-RUN rm -rf asio-1.28.0 && rm asio-1.28.0.tar.gz
-#Deleting older version of ROS
-RUN rm -rf /home/nao/gentoo/opt/ros/noetic
-
-# # # cleanup space first
-RUN rm -rf /tmp/gentoo/var/cache/binpkgs/* /tmp/gentoo/var/tmp/* /home/nao/.cache/* /home/nao/gentoo/var/cache/distfiles/*
-# Hack to earn extra 500MB~
-SHELL ["/bin/sh", "-c"]
-USER root
-# Remove all .git directories
-RUN find /home/nao -name ".git" -type d -exec rm -rf {} \; || true
-RUN rm -rf /opt
-RUN du -sh /tmp/gentoo
-USER nao
-
-SHELL ["/tmp/gentoo/executeonprefix"]
-
-#Compress archive to lzma format.
-#WARNING: This operation takes about an hour and a half.
-RUN cd /home/nao && tar -c --lzma -f /tmp/pepper_os.tar.lzma -C /home/nao gentoo -C  /home/nao ros2_humble -C /home/nao .local -C /home/nao .bash_profile -C /home/nao naoqi -C /home/nao catkin_ros2 || true
-
-ENTRYPOINT ["/bin/bash"]
\ No newline at end of file
diff --git a/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl b/wheels/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl
similarity index 100%
rename from onnxruntime-1.16.3-cp311-cp311-linux_i686.whl
rename to wheels/onnxruntime-1.16.3-cp311-cp311-linux_i686.whl
diff --git a/onnxruntime-1.17.0-cp38-cp38-linux_i686.whl b/wheels/onnxruntime-1.17.0-cp38-cp38-linux_i686.whl
similarity index 100%
rename from onnxruntime-1.17.0-cp38-cp38-linux_i686.whl
rename to wheels/onnxruntime-1.17.0-cp38-cp38-linux_i686.whl
diff --git a/qi-3.1.0-cp311-cp311-linux_i686.whl b/wheels/qi-3.1.0-cp311-cp311-linux_i686.whl
similarity index 100%
rename from qi-3.1.0-cp311-cp311-linux_i686.whl
rename to wheels/qi-3.1.0-cp311-cp311-linux_i686.whl
diff --git a/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl b/wheels/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
similarity index 100%
rename from tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl
rename to wheels/tflite_runtime-2.16.0-cp311-cp311-linux_i686.whl