diff --git a/.ccache/.gitkeep b/.ccache/.gitkeep
new file mode 100644
index 00000000..e69de29b
diff --git a/.env b/.env
new file mode 100644
index 00000000..18dbe78b
--- /dev/null
+++ b/.env
@@ -0,0 +1,16 @@
+# Defaults for the MoveIt Studio docker compose agent services.
+
+# Robot configuration package to launch
+STUDIO_CONFIG_PACKAGE=picknik_ur_mock_hw_config
+
+# MoveIt Studio version tag
+# Be careful! Changing this without understanding the consequences may break your installation. 
+STUDIO_DOCKER_TAG=2.6.0
+
+# Licensing -- enter your MoveIt Studio license below
+STUDIO_LICENSE_KEY=
+
+# User name and UID to use when building the container
+# Ensure these settings match your host environment for mounted file permissions.
+STUDIO_USERNAME=
+STUDIO_USER_UID=
diff --git a/.gitignore b/.gitignore
index 13456571..9f859681 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
+.ccache/
 build/
 install/
 log/
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..9b0f39e4
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,116 @@
+# Docker image for extending MoveIt Studio with a custom overlay.
+#
+# Example build command (with defaults):
+#
+# docker build -f ./Dockerfile .
+#
+
+# Specify the MoveIt Studio release to build on top of.
+ARG MOVEIT_STUDIO_BASE_IMAGE
+ARG USERNAME=studio-user
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+#####################################################
+# Starting from the specified MoveIt Studio release #
+#####################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} as base
+
+# hadolint ignore=DL3002
+USER root
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_OVERLAY_WS=/opt/user_overlay_ws
+ENV USER_OVERLAY_WS $USER_OVERLAY_WS
+RUN mkdir -p ${USER_OVERLAY_WS}/src ${USER_OVERLAY_WS}/build ${USER_OVERLAY_WS}/install ${USER_OVERLAY_WS}/log
+COPY ./src ${USER_OVERLAY_WS}/src
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_OVERLAY_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.ros/log && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} ${USER_OVERLAY_WS} /opt/overlay_ws/
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Studio binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+# Remove .bashrc from parent image and create a new one
+USER ${USERNAME}
+RUN rm /home/${USERNAME}/.bashrc && touch /home/${USERNAME}/.bashrc
+
+#########################################
+# Target for compiled, deployable image #
+#########################################
+FROM base as user-overlay
+
+ARG USERNAME
+USER ${USERNAME}
+
+# Compile the workspace
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/home/studio-user/.ccache \
+    . /opt/overlay_ws/install/setup.sh && \
+    colcon build
+
+# Add the custom entrypoint
+COPY ./entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+RUN echo "source /entrypoint.sh && set +e" >> ~/.bashrc
+CMD ["/usr/bin/bash"]
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base as user-overlay-dev
+
+USER root
+
+# The location of the user's workspace inside the container
+ARG USER_OVERLAY_WS=/opt/user_overlay_ws
+ENV USER_OVERLAY_WS $USER_OVERLAY_WS
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Add the dev entrypoint
+ARG USERNAME
+USER ${USERNAME}
+COPY ./entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+RUN echo "source /entrypoint.sh && set +e" >> ~/.bashrc
+CMD ["/usr/bin/bash"]
diff --git a/build/.gitkeep b/build/.gitkeep
new file mode 100644
index 00000000..e69de29b
diff --git a/docker-compose.yaml b/docker-compose.yaml
new file mode 100644
index 00000000..3f6026fb
--- /dev/null
+++ b/docker-compose.yaml
@@ -0,0 +1,125 @@
+# Docker Compose file for user overlays of the MoveIt Studio images.
+
+version: "3.9"
+
+services:
+  # Sets common properties for other services. Should not be instantiated directly.
+  base:
+    # Extend the installed MoveIt Studio docker compose file.
+    # Change this to match your environment, if MoveIt Studio was installed to a different location.
+    extends:
+      file: ${HOME}/moveit_studio/docker-compose.yaml
+      service: base
+    image: moveit-studio-overlay
+    build:
+      context: .
+      target: user-overlay
+      args:
+        - USER_UID=${STUDIO_USER_UID:-1000}
+        - USER_GID=${STUDIO_USER_UID:-1000}
+        - USERNAME=${USERNAME:-studio-user}
+        - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}
+
+  # Starts the MoveIt Studio Agent
+  agent:
+    extends: base
+    privileged: true
+    # Allow the user to use the host's network video4linux and usb_device devices.
+    # "c 81:* rmw": This rule specifies that the container has read, write, and mknod access (rmw) to all character devices (c) with a major number of 81 (video4linux).
+    # "c 189:* rmw": This rule gives the container read, write, and mknod access (rmw) to all character devices (c) with a major number of 189 (usb_device).
+    device_cgroup_rules:
+      - "c 81:* rmw"
+      - "c 189:* rmw"
+    depends_on:
+      rest_api:
+        condition: service_healthy
+    volumes:
+      # Allow the user to run graphical programs from within the docker container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:ro
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
+    # TODO: replace this tee here and in common_aliases with some integrated logger
+    command: bash -c "ros2 launch moveit_studio_agent studio_agent.launch.py 2>&1 | tee -a ~/.ros/log/agent_0_0.log"
+
+  # Starts the Bridge between the Agent and the Web UI
+  bridge:
+    extends: base
+    depends_on:
+      agent:
+        condition: service_started
+    # TODO: replace this tee here and in common_aliases with some integrated logger
+    command: bash -c "ros2 launch moveit_studio_bridge studio_bridge.launch.py 2>&1 | tee -a ~/.ros/log/bridge_0_0.log"
+
+  # Starts the frontend-agent
+  frontend_agent:
+    extends: base
+    command: /usr/lib/formant/agent/formant-agent
+
+  # Starts the REST API for the Web UI
+  rest_api:
+    extends: base
+    healthcheck:
+      test: "curl -f http://localhost:3200/objectives"
+      interval: 5s
+      timeout: 1m
+    # TODO: replace this tee here and in common_aliases with some integrated logger
+    command: bash -c "ros2 launch moveit_studio_rest_api rest_api.launch.py 2>&1 | tee -a ~/.ros/log/rest_api_0_0.log"
+
+  # Starts the robot drivers
+  drivers:
+    extends: base
+    privileged: true
+    # Ensures the drivers container has RT priority
+    ulimits:
+      rtprio: 99
+    devices:
+      - "/dev/ttyUSB0:/dev/ttyUSB0"  # Allow access to the gripper.
+    # TODO: replace this tee here and in common_aliases with some integrated logger
+    command: bash -c "ros2 launch moveit_studio_agent robot_drivers.launch.py 2>&1 | tee -a ~/.ros/log/robot_0_0.log"
+
+  web_ui:
+    image: picknikciuser/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
+    ports:
+      - "80:80"
+    network_mode: host
+
+  # Starts RViz for visualization.
+  rviz:
+    extends: base
+    profiles:
+      - rviz
+    command: bash -c "ros2 launch moveit_studio_agent developer_rviz.launch.py"
+
+  # Starts MoveIt Setup Assistant for creating MoveIt configurations.
+  setup_assistant:
+    extends: base
+    profiles:
+      - setup_assistant
+    command: bash -c "ros2 launch moveit_setup_assistant setup_assistant.launch.py"
+
+  # Developer specific configuration
+  dev:
+    extends: base
+    build:
+      target: user-overlay-dev
+    image: moveit-studio-overlay-dev
+    stdin_open: true
+    tty: true
+    privileged: true
+    volumes:
+      # Mount the source code, colcon generated artifacts, and ccache
+      - ./src/:/opt/user_overlay_ws/src:rw
+      - ./build/:/opt/user_overlay_ws/build:rw
+      - ./install/:/opt/user_overlay_ws/install:rw
+      - ./log/:/opt/user_overlay_ws/log:rw
+      - ./.ccache/:/home/${USERNAME:-studio-user}/.ccache:rw
+      - ${HOME}/.ros/log_moveit_studio:/root/.ros/log:/root/.ros/log
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
+    command: sleep infinity
+    # Making a separate profile prevents this service from being built when using `docker compose build`
+    # and launched when using `docker compose up`.
+    profiles: ["dev"]
+
+volumes:
+  ignition_resources:
diff --git a/entrypoint.sh b/entrypoint.sh
new file mode 100755
index 00000000..eceb6b23
--- /dev/null
+++ b/entrypoint.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+
+# Custom entrypoint to start when running an image that overlays MoveIt Studio
+
+set +e
+
+# Source the MoveIt Studio binaries and your workspace
+source "/opt/overlay_ws/install/setup.bash"
+if [ -f "${USER_OVERLAY_WS}/install/local_setup.bash" ]; then
+  source "${USER_OVERLAY_WS}/install/local_setup.bash"
+fi
+
+# Set the location for custom Behavior package generation
+export STUDIO_GENERATE_PACKAGE_OUTPUT_PATH="${USER_OVERLAY_WS}/src"
+
+# Set the permissions for your non-root user at startup.
+# shellcheck source=bin/docker/utils/change_permissions.sh
+source /moveit_studio_utils/change_permissions.sh
+
+# Set the DDS configuration for ROS 2 inter-process communication.
+# shellcheck source=bin/docker/utils/copy_dds_configs.sh
+source /moveit_studio_utils/copy_dds_configs.sh
+
+exec "$@"
diff --git a/install/.gitkeep b/install/.gitkeep
new file mode 100644
index 00000000..e69de29b
diff --git a/log/.gitkeep b/log/.gitkeep
new file mode 100644
index 00000000..e69de29b