diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index b7b99ad..7d77601 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -51,4 +51,3 @@ RUN \
     uv pip install ipykernel eclipse-zenoh -p ~/.local/share/base && \
     echo '. ~/.local/share/base/bin/activate' >> ~/.bashrc
 ENV VIRTUAL_ENV=/root/.local/share/base
-CMD ["bash", "-c", "sudo rm /var/run/docker.pid; sudo dockerd"]
diff --git a/.devcontainer/cpu/docker-compose.yaml b/.devcontainer/cpu/docker-compose.yaml
deleted file mode 100644
index 0d3b537..0000000
--- a/.devcontainer/cpu/docker-compose.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-services:
-  ide:
-    build:
-      context: ..
-      dockerfile: ./Dockerfile
-    privileged: true # Docker-in-Docker needs this
-    cgroup: host # Allow setting resource constraints (e.g. memory, cpu) for containers
-    environment:
-      - RUST_BACKTRACE=1 # Display error trace on errors/panics
-    volumes:
-      - ${LOCAL_WORKSPACE_PATH}:${ENV_WORKSPACE_PATH} # source
-      - docker_data:/var/lib/docker # Docker image cache
-      - ${LOCAL_GIT_PATH}:${ENV_GIT_PATH} # Base Git worktree history
-volumes:
-  docker_data:
diff --git a/.devcontainer/cpu/devcontainer.json b/.devcontainer/devcontainer.json
similarity index 73%
rename from .devcontainer/cpu/devcontainer.json
rename to .devcontainer/devcontainer.json
index 6c66222..273ae3c 100644
--- a/.devcontainer/cpu/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,15 +1,29 @@
 {
 	"name": "Development-CPU-ONLY",
-	"dockerComposeFile": "./docker-compose.yaml",
-	"service": "ide",
+	"build": {
+		"dockerfile": "./Dockerfile"
+	},
+	"postStartCommand": "sudo rm /var/run/docker.pid; sudo dockerd",
 	"workspaceFolder": "/workspaces/${localWorkspaceFolderBasename}",
-	"initializeCommand": ".devcontainer/make_env_file.py ${localWorkspaceFolder} ./cpu/",
-	"postStartCommand": "mkdir -p tests/.tmp && docker system prune -fa && docker volume prune -f",
 	"hostRequirements": {
 		"cpus": 2,
 		"memory": "8gb",
 		"storage": "32gb"
 	},
+	"remoteEnv": {
+		"RUST_BACKTRACE": "1"
+	},
+	"capAdd": [
+		"SYS_ADMIN"
+	],
+	"privileged": true,
+	"runArgs": [
+		"--cgroupns=host",
+		"--gpus=all"
+	],
+	"mounts": [
+		"source=docker_data,target=/var/lib/docker,type=volume"
+	],
 	"customizations": {
 		"vscode": {
 			"extensions": [
diff --git a/.devcontainer/gpu/devcontainer.json b/.devcontainer/gpu/devcontainer.json
deleted file mode 100644
index 5a681dd..0000000
--- a/.devcontainer/gpu/devcontainer.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-	"name": "Development-GPU",
-	"dockerComposeFile": "./docker-compose.yaml",
-	"service": "ide",
-	"workspaceFolder": "/workspaces/${localWorkspaceFolderBasename}",
-	"initializeCommand": ".devcontainer/make_env_file.py ${localWorkspaceFolder} ./gpu/",
-	"postStartCommand": "mkdir -p tests/.tmp && docker system prune -fa && docker volume prune -f",
-	"hostRequirements": {
-		"cpus": 2,
-		"memory": "8gb",
-		"storage": "32gb"
-	},
-	"customizations": {
-		"vscode": {
-			"extensions": [
-				"rust-lang.rust-analyzer", // Rust VSCode features
-				"vadimcn.vscode-lldb", // Rust CodeLLDB debugger
-				"ms-vscode.hexeditor", // Binary preview in HEX
-				"tamasfe.even-better-toml", // *.toml language support
-				"eamodio.gitlens", // Git explorer in VSCode
-				"streetsidesoftware.code-spell-checker", // Catch spelling errors in docs
-				"GitHub.copilot-chat", // GitHub Copilot AI assistant
-				"tintinweb.graphviz-interactive-preview", // Graphviz DOT preview
-				"ms-python.python", // Python IDE
-				"ms-toolsai.jupyter", // Jupyter IDE
-				"ms-python.black-formatter" // Python code formatter
-			]
-		}
-	},
-	"features": {
-		"ghcr.io/meaningful-ooo/devcontainer-features/fish:2": {} // Fish shell
-	}
-}
diff --git a/.devcontainer/gpu/docker-compose.yaml b/.devcontainer/gpu/docker-compose.yaml
deleted file mode 100644
index ba5d69f..0000000
--- a/.devcontainer/gpu/docker-compose.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-services:
-  ide:
-    build:
-      context: ..
-      dockerfile: ./Dockerfile
-    privileged: true # Docker-in-Docker needs this
-    cgroup: host # Allow setting resource constraints (e.g. memory, cpu) for containers
-    environment:
-      - RUST_BACKTRACE=1 # Display error trace on errors/panics
-    volumes:
-      - ${LOCAL_WORKSPACE_PATH}:${ENV_WORKSPACE_PATH} # source
-      - docker_data:/var/lib/docker # Docker image cache
-      - ${LOCAL_GIT_PATH}:${ENV_GIT_PATH} # Base Git worktree history
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              count: all
-              capabilities: [ gpu ]
-volumes:
-  docker_data:
diff --git a/.devcontainer/make_env_file.py b/.devcontainer/make_env_file.py
deleted file mode 100755
index 69c5a75..0000000
--- a/.devcontainer/make_env_file.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env python3
-#
-# assumes git worktree was made using relative paths e.g.
-# git worktree add ../dir-name branch-name --relative-paths
-import sys
-from pathlib import Path
-from textwrap import dedent
-import subprocess
-from os.path import relpath
-
-
-def make_config(local_workspace_path: Path):
-    env_workspace_path = Path(f"/workspaces/{local_workspace_path.name}")
-    local_git_path = Path(
-        subprocess.run(
-            "git rev-parse --path-format=absolute --git-common-dir".split(" "),
-            capture_output=True,
-            text=True,
-        ).stdout.strip()
-    )
-    env_git_path = (
-        env_workspace_path / ".git"
-        if local_workspace_path / ".git" == local_git_path
-        else (
-            env_workspace_path
-            / relpath(local_git_path.parent, local_workspace_path)
-            / ".git"
-        ).resolve()
-    )
-
-    return dedent(
-        f"""
-        LOCAL_WORKSPACE_PATH={local_workspace_path}
-        ENV_WORKSPACE_PATH={env_workspace_path}
-        LOCAL_GIT_PATH={local_git_path}
-        ENV_GIT_PATH={env_git_path}
-        """
-    ).strip()
-
-
-if __name__ == "__main__":
-    local_workspace_path = Path(sys.argv[1])
-
-    with open(Path(__file__).absolute().parent / f"{sys.argv[2]}.env", "w") as f:
-        f.write(make_config(local_workspace_path))