diff --git a/docker_stuff/docker_mng_vars.sh b/docker_stuff/docker_mng_vars.sh
index a83ce57..ae2c361 100644
--- a/docker_stuff/docker_mng_vars.sh
+++ b/docker_stuff/docker_mng_vars.sh
@@ -1,6 +1,7 @@
 UBUNTU_DEF="ubuntu:24.04"
 CUDA_DEF="nvidia/cuda:11.7.1-cudnn8-devel-ubuntu22.04"
 ROS_DEF="jazzy"
+GAZEBO_DEF="harmonic"
 YARP_DEF="master"
 CUDA_SUFFIX="cuda.11.7.1-cudnn8"
 UBUNTU_SUFFIX="ubuntu22.04"
diff --git a/docker_stuff/docker_sim2/Dockerfile b/docker_stuff/docker_sim2/Dockerfile
index 07fcde0..b4495ef 100644
--- a/docker_stuff/docker_sim2/Dockerfile
+++ b/docker_stuff/docker_sim2/Dockerfile
@@ -7,6 +7,7 @@ ARG yarp_branch="master"
 ARG ros2_dev_remote="robotology"
 ARG ros2_dev_branch=${yarp_branch}
 ARG gazebo_pkg=ros-${ros_distro}-ros-gz
+ARG gazebo_version=harmonic
 
 # Non-interactive installation mode
 ENV DEBIAN_FRONTEND=noninteractive
@@ -155,22 +156,21 @@ RUN cd navigation && mkdir build && cd build && /bin/bash -c "source /opt/ros/${
 ENV navigation_ROOT=${robotology_install_folder}/navigation
 ENV navigation_DIR=${robotology_install_folder}/navigation/build
 
+
 # Gazebo
-RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-RUN wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-RUN sudo apt-get update && sudo apt-get install -y gazebo-common gazebo libgazebo-dev mesa-utils && sudo rm -rf /var/lib/apt/lists/*
+RUN sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN sudo apt-get update
+RUN sudo apt-get install gz-${gazebo_version}
 
-# Gazebo Plugins
+# Gz-sim Plugins
 USER ${robotology_install_user}
 WORKDIR ${robotology_install_folder}
-RUN git clone https://github.com/robotology/gazebo-yarp-plugins -b master
-RUN cd gazebo-yarp-plugins && mkdir build && cd build && \
-    cmake .. \
-    -DCMAKE_BUILD_TYPE=Release \
-    -DGAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS=ON && \
-    make -j4
-ENV GazeboYARPPlugins_ROOT=${robotology_install_folder}/gazebo-yarp-plugins
-ENV GazeboYARPPlugins_DIR=${robotology_install_folder}/gazebo-yarp-plugins/build
+RUN git clone https://github.dev/robotology/gz-sim-yarp-plugins
+RUN cd gz-sim-yarp-plugins && mkdir build && cd build && \
+    cmake -DCMAKE_INSTALL_PREFIX=${robotology_install_folder}/gz-sim-yarp-plugins/install \
+    -DCMAKE_PREFIX_PATH=${robotology_install_folder}/gz-sim-yarp-plugins/install && \
+    make -j11 && make install
 
 # CER
 USER ${robotology_install_user}
diff --git a/docker_stuff/docker_sim2/manage-docker.sh b/docker_stuff/docker_sim2/manage-docker.sh
index f265ff6..d5a9992 100755
--- a/docker_stuff/docker_sim2/manage-docker.sh
+++ b/docker_stuff/docker_sim2/manage-docker.sh
@@ -15,6 +15,7 @@ usage()
     echo "    -d, --devel                        Build/run the image with the '$DEVEL_SUFFIX' tag"
     echo "    -e, --repo  + \"repo_name\"          Build/run the image with the passed repository reference"
     echo "    -r, --ros_distro + \"distro_name\"   Build/run the image with the passed distro (the passed value will be also used to compose the image tag)"
+    echo "    -g, --gz_version + \"gz_version\"    Build/run the image with the passed gazebo version (the passed value will be also used to compose the image tag)"
     echo "    -y, --yarp_branch + \"yarp branch\"  Build/run the image with the passed yarp branch (the passed value, if different from \"master\", will be also used to compose the image tag)."
     echo "                                       If not passed, the branch used will be \"master\""
     echo "    -h, --help                         See current help"
@@ -88,6 +89,16 @@ get_opts()
                 ROS_SET=true
                 shift
                 ;;
+            -g|--gz_version)
+                if [[ $GZ_SET == "true" ]]; then
+                    echo "Gazebo version already set"
+                    usage
+                fi
+                shift
+                GZ_VERS=$1
+                GZ_SET=true
+                shift
+                ;;
             -y|--yarp_vers)
                 if [[ $YARP_SET == "true" ]]; then
                     echo "YARP branch already set already set"
@@ -144,6 +155,7 @@ BASE_TAG_DEF="tourSim2"
 BUILD_SUFFIX=$DEVEL_SUFFIX
 VERSION="1.0.0"
 ROS_DISTRO=$ROS_DEF
+GZ_VERS=$GAZEBO_DEF
 YARP_BRANCH=$YARP_DEF
 PARENT_SUFFIX=$UBUNTU_SUFFIX
 IMAGE_SET=false
@@ -151,6 +163,7 @@ BUILD_SET=false
 GONNA_BUILD=false
 RUN_WITH_GPU=true
 ROS_SET=false
+GZ_SET=false
 YARP_SET=false
 IMAGE=$UBUNTU_DEF
 REPO=$REPO_DEF
@@ -166,7 +179,7 @@ get_opts $@
 if [[ $YARP_BRANCH != "master" ]]; then
     YARP_TAG=$YARP_BRANCH$JUNCTION
 fi
-COMPLETE_IMAGE_NAME=$REPO$REPO_SEP$BASE_TAG$JUNCTION$PARENT_SUFFIX$JUNCTION$ROS_DISTRO$JUNCTION$YARP_TAG$BUILD_SUFFIX
+COMPLETE_IMAGE_NAME=$REPO$REPO_SEP$BASE_TAG$JUNCTION$PARENT_SUFFIX$JUNCTION$ROS_DISTRO$JUNCTION$GZ_VERS$JUNCTION$YARP_TAG$BUILD_SUFFIX
 
 echo $COMPLETE_IMAGE_NAME