diff --git a/Dockerfile b/Dockerfile
index 9b0f39e4..5870a50f 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -18,22 +18,19 @@ ARG USER_GID=1000
 # 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
 
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_overlay_ws
+ENV USER_WS=${USER_WS}
+RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
+COPY ./src ${USER_WS}/src
+
 # Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
-WORKDIR $USER_OVERLAY_WS
+WORKDIR $USER_WS
 # hadolint ignore=DL3008
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
@@ -43,12 +40,14 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     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} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
     mkdir -p \
       /home/${USERNAME}/.ccache \
       /home/${USERNAME}/.config \
       /home/${USERNAME}/.ignition \
-      /home/${USERNAME}/.ros/log && \
-    chown -R $USER_UID:$USER_GID /home/${USERNAME} ${USER_OVERLAY_WS} /opt/overlay_ws/
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
 
 # Install additional dependencies
 # You can also add any necessary apt-get install, pip install, etc. commands at this point.
@@ -62,9 +61,10 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       --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
+# Remove duplicated serial dependency install files, otherwise there will be a build error.
+# NOTE: This can be removed when MoveIt Studio fully separates core and hardware capabilities.
+WORKDIR /opt/overlay_ws
+RUN rm -rf build/serial install/serial
 
 #########################################
 # Target for compiled, deployable image #
@@ -72,18 +72,18 @@ RUN rm /home/${USERNAME}/.bashrc && touch /home/${USERNAME}/.bashrc
 FROM base as user-overlay
 
 ARG USERNAME
-USER ${USERNAME}
+ARG USER_WS=/home/${USERNAME}/user_overlay_ws
+ENV USER_WS=${USER_WS}
 
 # Compile the workspace
+WORKDIR $USER_WS
 # hadolint ignore=SC1091
-RUN --mount=type=cache,target=/home/studio-user/.ccache \
+RUN --mount=type=cache,target=/home/${USERNAME}/.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
+# Set up the user's .bashrc file and shell.
+# RUN echo "source /moveit_studio_utils/setup_workspaces.sh && set +e" >> /home/${USERNAME}/.bashrc
 CMD ["/usr/bin/bash"]
 
 ###################################################################
@@ -91,11 +91,9 @@ CMD ["/usr/bin/bash"]
 ###################################################################
 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 $USER_OVERLAY_WS
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_overlay_ws
+ENV USER_WS=${USER_WS}
 
 # Install any additional packages for development work
 # hadolint ignore=DL3008
@@ -107,10 +105,6 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
         gdb \
         nano
 
-# Add the dev entrypoint
-ARG USERNAME
-USER ${USERNAME}
-COPY ./entrypoint.sh /entrypoint.sh
-ENTRYPOINT ["/entrypoint.sh"]
-RUN echo "source /entrypoint.sh && set +e" >> ~/.bashrc
+# Set up the user's .bashrc file and shell.
+# RUN echo "source /moveit_studio_utils/setup_workspaces.sh && set +e" >> /home/${USERNAME}/.bashrc
 CMD ["/usr/bin/bash"]
diff --git a/build/.gitkeep b/build/.gitkeep
deleted file mode 100644
index e69de29b..00000000
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 7c5ab22b..336f449a 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -19,6 +19,9 @@ services:
         - USER_GID=${STUDIO_USER_UID:-1000}
         - USERNAME=${USERNAME:-studio-user}
         - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}
+    # Set the user workspace folder location.
+    environment:
+      - USER_WS=/home/${USERNAME:-studio-user}/user_overlay_ws
 
   # Starts the MoveIt Studio Agent and the Bridge between the Agent and the Web UI
   agent_bridge:
@@ -44,12 +47,7 @@ services:
         delay: 2s
     command: agent_bridge.app
 
-  # Starts the frontend-agent
-  frontend_agent:
-    extends: base
-    command: /usr/lib/formant/agent/formant-agent
-
-  # Starts the REST API for the Web UI
+  # Starts the REST API for the Web UI.
   rest_api:
     extends: base
     healthcheck:
@@ -58,7 +56,7 @@ services:
       timeout: 1m
     command: rest_api.app
 
-  # Starts the robot drivers
+  # Starts the robot drivers.
   drivers:
     extends: base
     privileged: true
@@ -69,6 +67,7 @@ services:
       - "/dev/ttyUSB0:/dev/ttyUSB0"  # Allow access to the gripper.
     command: robot.app
 
+  # Starts the web UI frontend.
   web_ui:
     image: picknikciuser/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
     ports:
@@ -100,12 +99,12 @@ services:
     privileged: true
     volumes:
       # Mount the source code, colcon generated artifacts, and ccache
-      - ./src/:/opt/user_overlay_ws/src:rw
-      - ./build/:/opt/user_overlay_ws/build:rw
-      - ./install/:/opt/user_overlay_ws/install:rw
-      - ./log/:/opt/user_overlay_ws/log:rw
+      - ./src/:/home/${USERNAME:-studio-user}/user_overlay_ws/src:rw
+      - ./build/:/home/${USERNAME:-studio-user}/user_overlay_ws/build:rw
+      - ./install/:/home/${USERNAME:-studio-user}/user_overlay_ws/install:rw
+      - ./log/:/home/${USERNAME:-studio-user}/user_overlay_ws/log:rw
       - ./.ccache/:/home/${USERNAME:-studio-user}/.ccache:rw
-      - ${HOME}/.ros/log_moveit_studio:/root/.ros/log:/root/.ros/log
+      - ${HOME}/.ros/log_moveit_studio:/home/${USERNAME:-studio-user}/.ros/log
       # Allow access to host hardware e.g. RealSense cameras
       - /dev:/dev
     command: sleep infinity
diff --git a/entrypoint.sh b/entrypoint.sh
deleted file mode 100755
index eceb6b23..00000000
--- a/entrypoint.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/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
deleted file mode 100644
index e69de29b..00000000
diff --git a/log/.gitkeep b/log/.gitkeep
deleted file mode 100644
index e69de29b..00000000
diff --git a/src/external_dependencies/.clang-tidy b/src/external_dependencies/.clang-tidy
new file mode 100644
index 00000000..395515ae
--- /dev/null
+++ b/src/external_dependencies/.clang-tidy
@@ -0,0 +1,9 @@
+---
+# Disable all checks in this folder.
+# At least one check must be enabled to avoid errors, though.
+Checks:          '-*,
+                 cppcoreguidelines-avoid-goto,
+                 '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+...