diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 0000000..5d16361
--- /dev/null
+++ b/.devcontainer/Dockerfile
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+FROM ros:humble
+ENV DEBIAN_FRONTEND noninteractive
+SHELL ["/bin/bash", "-c"]
+RUN apt-get update && apt-get install -y -qq --no-install-recommends \ 
+                                      libglvnd-dev \
+                                      libgl1-mesa-dev \
+                                      libegl1-mesa-dev \
+                                      libgles2-mesa-dev \
+                                      libxext6 \
+                                      libx11-6 \
+                                      freeglut3-dev \
+                                      git \
+                                      python3-pip \
+                                      python3-tk \
+                                      curl \
+                                      vim \ 
+                                      libcgal-dev \
+                                      libcgal-demo \
+                                      ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
+                                      libyaml-cpp-dev \
+                                      ros-humble-xacro \
+                                      libboost-all-dev\
+                                      build-essential \
+                                      cmake \
+                                      git \
+                                      && rm -rf /var/lib/apt/lists/*
+                                      
+RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
+RUN apt-get install git-lfs
+
+# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
+RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
+
+# Install Python dependencies
+RUN pip3 install scipy ipykernel warp-lang
+RUN pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
+RUN pip3 install matplotlib opencv-python proxsuite
+RUN pip3 install isort black
+RUN pip3 install warp-lang scikit-learn casadi mujoco pin
+
+RUN pip install jupyter ipykernel
+RUN pip install cyclonedds pygame 
+
+# Set environmental variables required for using ROS 
+RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
+RUN echo 'source /unitree_ros2/cyclonedds_ws/install/setup.bash' >> ~/.bashrc
+RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
+RUN echo 'export CYCLONEDDS_URI=file:///home/Go2py/Go2Py/assets/cyclonedds.xml' >> ~/.bashrc
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
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diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 0000000..640964c
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,18 @@
+// https://containers.dev/implementors/json_reference/
+{
+    "name": "go2py", 
+    "dockerComposeFile": "docker-compose.yaml",
+    "workspaceFolder": "/home/Go2py",
+    "service": "go2py",
+    "remoteUser": "root", 
+    "postCreateCommand": "cd /home/Go2py && pip install -e . && make ddscfg",
+    "customizations": {
+      "vscode": {
+        "extensions": [
+          "dbaeumer.vscode-eslint", // Existing ESLint extension
+          "ms-python.python", // Python extension by Microsoft
+          "ms-toolsai.jupyter" // Jupyter extension by Microsoft
+        ]
+      }
+    }
+  }
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diff --git a/.devcontainer/docker-compose.yaml b/.devcontainer/docker-compose.yaml
new file mode 100644
index 0000000..c3968ce
--- /dev/null
+++ b/.devcontainer/docker-compose.yaml
@@ -0,0 +1,17 @@
+version: "3.9"
+services:
+  go2py:
+    build: .
+    # container_name: go2py
+    network_mode: host
+    privileged: true
+    command: bash
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ../:/home/Go2py
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+    # runtime: nvidia
+    stdin_open: true
+    tty: true
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