From Docker to Docker connection

VB - Kali
VB - Ubuntu - Docker JuiceShop

Kali can ping Ubuntu, JuiceShop can ping Kali

How can I access from Kali to JuiceShop with tools like nmap, etc.
If I setup Docker in Kali and have tools inside, how can I access from nmap in Docker(Kali) to JuiceShop in Docker(Ubuntu)?