diff --git a/.devcontainer/Dockerfile.x86 b/.devcontainer/Dockerfile.x86
index ba80d1f..c90d0ed 100644
--- a/.devcontainer/Dockerfile.x86
+++ b/.devcontainer/Dockerfile.x86
@@ -2,6 +2,7 @@ FROM ros:humble
 ENV DEBIAN_FRONTEND noninteractive
 ARG CONDA_VER=latest
 ARG OS_TYPE=x86_64
+SHELL ["/bin/bash", "-c"]
 
 RUN apt-get update && apt-get install -y -qq --no-install-recommends \ 
                                       libglvnd-dev \
@@ -30,6 +31,12 @@ RUN apt-get update && apt-get install -y -qq --no-install-recommends \
                                       
 RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
 RUN apt-get install git-lfs
+
+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 Miniconda
 RUN wget https://github.com/conda-forge/miniforge/releases/${CONDA_VER}/download/Miniforge3-Linux-${OS_TYPE}.sh -O ~/miniconda.sh \
     && /bin/bash ~/miniconda.sh -b -p /opt/conda \
@@ -39,20 +46,22 @@ RUN wget https://github.com/conda-forge/miniforge/releases/${CONDA_VER}/download
     && echo "conda activate base" >> ~/.bashrc
 
 ENV PATH /opt/conda/bin:$PATH   
-SHELL ["conda", "run", "-n", "base", "/bin/bash", "-c"]
+
+RUN conda create -n go2py python==3.8.10
+SHELL ["conda", "run", "-n", "go2py", "/bin/bash", "-c"]
+
 ENV CONDA_PREFIX /opt/conda
 
-# 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
+RUN echo "export CYCLONEDDS_HOME=/unitree_ros2/cyclonedds_ws/install/cyclonedds/" >> ~/.bashrc
+ENV CYCLONEDDS_HOME "/unitree_ros2/cyclonedds_ws/install/cyclonedds"
+RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b releases/0.10.x && cd cyclonedds-python && pip install .
 
 # Install Python dependencies
 RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
 RUN pip install matplotlib opencv-python proxsuite scipy isort black
 RUN pip install warp-lang scikit-learn casadi
 RUN pip install onnx onnxruntime
-# RUN pip install cyclonedds pygame pynput jupyter ipykernel
+RUN pip install pygame pynput jupyter ipykernel
 RUN pip install meshcat mujoco
 RUN conda install -y -c conda-forge \
                         pinocchio \