diff --git a/.docker/Dockerfile b/.docker/Dockerfile
new file mode 100644
index 0000000..212bfda
--- /dev/null
+++ b/.docker/Dockerfile
@@ -0,0 +1,31 @@
+FROM robotlocomotion/drake:1.35.0
+
+ENV WORKSPACE /root/workspace
+
+# build essentials
+RUN apt update && \
+    apt install -y curl build-essential git && \
+    apt install -y libssl-dev zlib1g-dev \
+    libbz2-dev libreadline-dev libsqlite3-dev curl git \
+    libncursesw5-dev xz-utils tk-dev libxml2-dev libxmlsec1-dev libffi-dev \
+    liblzma-dev && \
+    apt install -y software-properties-common libtbb-dev && \
+    apt install -y libeigen3-dev python3.10-venv ffmpeg \
+    clangd-12 wget lsb-release cmake libboost-all-dev gdb python3-dbg && \
+    update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-12 100
+
+RUN curl https://pyenv.run | bash
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:$PATH"
+
+RUN curl -sSL https://install.python-poetry.org | python3 -
+ENV PATH="/root/.local/bin:$PATH"
+
+RUN pyenv global system && \
+    pyenv install 3.10.12 && \
+    echo 'export PYENV_ROOT="$HOME/.pyenv"' >> ~/.bashrc && \
+    echo '[[ -d $PYENV_ROOT/bin ]] && export PATH="$PYENV_ROOT/bin:$PATH"' >> ~/.bashrc && \
+    echo 'eval "$(pyenv init - bash)"' >> ~/.bashrc
+
+
+
+WORKDIR $WORKSPACE
diff --git a/.gitmodules b/.gitmodules
index dc55c54..621ec6d 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,16 +1,16 @@
 [submodule "scalable_real2sim/robot_payload_id"]
 	path = scalable_real2sim/robot_payload_id
-	url = git@github.com:nepfaff/robot_payload_id.git
+	url = https://github.com/nepfaff/robot_payload_id.git
 [submodule "scalable_real2sim/neuralangelo"]
 	path = scalable_real2sim/neuralangelo
-	url = git@github.com:evelyn-fu/neuralangelo.git
+	url = https://github.com/evelyn-fu/neuralangelo.git
 	branch = object_masking
 [submodule "scalable_real2sim/Frosting"]
 	path = scalable_real2sim/Frosting
-	url = git@github.com:nepfaff/Frosting.git
+	url = https://github.com/nepfaff/Frosting.git
 [submodule "scalable_real2sim/BundleSDF"]
 	path = scalable_real2sim/BundleSDF
-	url = git@github.com:nepfaff/BundleSDF.git
+	url = https://github.com/nepfaff/BundleSDF.git
 [submodule "scalable_real2sim/pickplace_data_collection"]
 	path = scalable_real2sim/pickplace_data_collection
-	url = git@github.com:evelyn-fu/pickplace_data_collection.git
+	url = https://github.com/evelyn-fu/pickplace_data_collection.git
diff --git a/docker-compose.yaml b/docker-compose.yaml
new file mode 100644
index 0000000..8c4c9ae
--- /dev/null
+++ b/docker-compose.yaml
@@ -0,0 +1,27 @@
+services:
+  real2sim_drake:
+    image: real2sim_drake
+    container_name: real2sim_drake
+    build:
+      context: .
+      dockerfile: .docker/Dockerfile
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - TERM=xterm-256-color
+    volumes:
+      - /tmp/.X11-unix:/tml/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+      - ./:/root/workspace/
+      - /home/$(whoami)/.ssh:/root/.ssh
+    tty: true
+    stdin_open: true
+    network_mode: "host"
+    privileged: true
+    ulimits:
+      rtprio: 70
+      rttime: -1
+      memlock: 8428281856
+    devices:
+      - "/dev:/dev"
+    command: /bin/bash