diff --git a/.dockerignore b/.dockerignore
index 397c2c65dc..81bf4b49f1 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -13,6 +13,9 @@ docs/
 *.tmp
 # ignore docker
 docker/exports/
+docker/.container.yaml
+# ignore recordings
+recordings/
 # ignore __pycache__
 **/__pycache__/
 **/*.egg-info/
diff --git a/.gitignore b/.gitignore
index 2292fd9c2f..43dd2d707b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -25,6 +25,7 @@
 # Docker/Singularity
 **/*.sif
 docker/exports/
+docker/.container.yaml
 
 # IDE
 **/.idea/
diff --git a/docker/container.sh b/docker/container.sh
index 3fb193d86d..5e92ab3877 100755
--- a/docker/container.sh
+++ b/docker/container.sh
@@ -13,6 +13,12 @@ tabs 4
 # get script directory
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
+STATEFILE="${SCRIPT_DIR}/.container.yaml"
+
+if ! [ -f "$STATEFILE" ]; then
+    touch $STATEFILE
+fi
+
 #==
 # Functions
 #==
@@ -47,6 +53,34 @@ install_apptainer() {
     fi
 }
 
+install_yq() {
+    # Installing yq to handle file parsing
+    # Installation procedure from here: https://github.com/mikefarah/yq
+    read -p "[INFO] Required 'yq' package could not be found. Would you like to install it via wget? (y/N)" yq_answer
+    if [ "$yq_answer" != "${yq_answer#[Yy]}" ]; then
+        sudo snap install yq
+    else
+        echo "[INFO] Exiting because yq was not installed"
+        exit
+    fi
+}
+
+set_statefile_variable() {
+    # Stores key $1 with value $2 in yaml $STATEFILE
+    yq -i '.["'"$1"'"] = "'"$2"'"' $STATEFILE
+}
+
+load_statefile_variable() {
+    # Loads key $1 from yaml $STATEFILE as an envvar
+    # If key does not exist, the loaded var will equal "null"
+    eval $1="$(yq ".$1" $STATEFILE)"
+}
+
+delete_statefile_variable() {
+    # Deletes key $1 from yaml $STATEFILE
+    yq -i "del(.$1)" $STATEFILE
+}
+
 # Function to check docker versions
 # If docker version is more than 25, the script errors out.
 check_docker_version() {
@@ -85,6 +119,8 @@ resolve_image_extension() {
         container_profile="base"
     fi
 
+    add_yamls="--file docker-compose.yaml"
+
     add_profiles="--profile $container_profile"
     # We will need .env.base regardless of profile
     add_envs="--env-file .env.base"
@@ -125,6 +161,75 @@ check_singularity_image_exists() {
     fi
 }
 
+install_xauth() {
+    # check if xauth is installed
+    read -p "[INFO] xauth is not installed. Would you like to install it via apt? (y/N) " xauth_answer
+    if [ "$xauth_answer" != "${xauth_answer#[Yy]}" ]; then
+        sudo apt update && sudo apt install xauth
+    else
+        echo "[INFO] Did not install xauth. Full X11 forwarding not enabled."
+    fi
+}
+
+# This is modeled after Rocker's x11 forwarding extension
+# https://github.com/osrf/rocker
+configure_x11() {
+    if ! command -v xauth &> /dev/null; then
+        install_xauth
+    fi
+    load_statefile_variable __ORBIT_TMP_XAUTH
+    # Create temp .xauth file to be mounted in the container
+    if [ "$__ORBIT_TMP_XAUTH" = "null" ]; then
+        __ORBIT_TMP_XAUTH=$(mktemp --suffix=".xauth")
+        set_statefile_variable __ORBIT_TMP_XAUTH $__ORBIT_TMP_XAUTH
+        # Extract MIT-MAGIC-COOKIE for current display | Change the 'connection family' to FamilyWild (ffff) | merge into tmp .xauth file
+        # https://www.x.org/archive/X11R6.8.1/doc/Xsecurity.7.html#toc3
+        xauth_cookie= xauth nlist ${DISPLAY} | sed -e s/^..../ffff/ | xauth -f $__ORBIT_TMP_XAUTH nmerge -
+    fi
+    # Export here so it's an envvar for the called Docker commands
+    export __ORBIT_TMP_XAUTH
+    add_yamls="$add_yamls --file x11.yaml "
+    # TODO: Add check to make sure Xauth file is correct
+}
+
+x11_check() {
+    load_statefile_variable __ORBIT_X11_FORWARDING_ENABLED
+    if [ "$__ORBIT_X11_FORWARDING_ENABLED" = "null" ]; then
+        echo "[INFO] X11 forwarding from the Orbit container is off by default."
+        echo "[INFO] It will fail if there is no display, or this script is being run via ssh without proper configuration."
+=        read -p "Would you like to enable it? (y/N) " x11_answer
+        if [ "$x11_answer" != "${x11_answer#[Yy]}" ]; then
+            __ORBIT_X11_FORWARDING_ENABLED=1
+            set_statefile_variable __ORBIT_X11_FORWARDING_ENABLED 1
+            echo "[INFO] X11 forwarding is enabled from the container."
+        else
+            __ORBIT_X11_FORWARDING_ENABLED=0
+            set_statefile_variable __ORBIT_X11_FORWARDING_ENABLED 0
+            echo "[INFO] X11 forwarding is disabled from the container."
+        fi
+    else
+        echo "[INFO] X11 Forwarding is configured as $__ORBIT_X11_FORWARDING_ENABLED in .container.yaml"
+        if [ "$__ORBIT_X11_FORWARDING_ENABLED" = "1" ]; then
+            echo "[INFO] To disable X11 forwarding, set __ORBIT_X11_FORWARDING_ENABLED=0 in .container.yaml"
+        else
+            echo "[INFO] To enable X11 forwarding, set __ORBIT_X11_FORWARDING_ENABLED=1 in .container.yaml"
+        fi
+    fi
+
+    if [ "$__ORBIT_X11_FORWARDING_ENABLED" = "1" ]; then
+        configure_x11
+    fi
+}
+
+x11_cleanup() {
+    load_statefile_variable __ORBIT_TMP_XAUTH
+    if ! [ "$__ORBIT_TMP_XAUTH" = "null" ] && [ -f "$__ORBIT_TMP_XAUTH" ]; then
+        echo "[INFO] Removing temporary Orbit .xauth file $__ORBIT_TMP_XAUTH."
+        rm $__ORBIT_TMP_XAUTH
+        delete_statefile_variable __ORBIT_TMP_XAUTH
+    fi
+}
+
 #==
 # Main
 #==
@@ -142,6 +247,10 @@ if ! command -v docker &> /dev/null; then
     exit 1
 fi
 
+if ! command -v yq &> /dev/null; then
+    install_yq
+fi
+
 # parse arguments
 mode="$1"
 profile_arg="$2" # Capture the second argument as the potential profile argument
@@ -170,11 +279,13 @@ case $mode in
     start)
         echo "[INFO] Building the docker image and starting the container orbit-$container_profile in the background..."
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
+        # Determine if we want x11 forwarding enabled
+        x11_check
         # We have to build the base image as a separate step,
         # in case we are building a profile which depends
         # upon
         docker compose --file docker-compose.yaml --env-file .env.base build orbit-base
-        docker compose --file docker-compose.yaml $add_profiles $add_envs up --detach --build --remove-orphans
+        docker compose $add_yamls $add_profiles $add_envs up --detach --build --remove-orphans
         popd > /dev/null 2>&1
         ;;
     enter)
@@ -216,6 +327,7 @@ case $mode in
         echo "[INFO] Stopping the launched docker container orbit-$container_profile..."
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
         docker compose --file docker-compose.yaml $add_profiles $add_envs down
+        x11_cleanup
         popd > /dev/null 2>&1
         ;;
     push)
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index 658b7b2b3a..e6aa088b75 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -2,85 +2,76 @@
 # be re-used between services to an
 # extension field
 # https://docs.docker.com/compose/compose-file/compose-file-v3/#extension-fields
-x-default-orbit-volumes:
-  &default-orbit-volumes
-    # These volumes follow from this page
-    # https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#save-isaac-sim-configs-on-local-disk
-    - type: volume
-      source: isaac-cache-kit
-      target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/cache
-    - type: volume
-      source: isaac-cache-ov
-      target: ${DOCKER_USER_HOME}/.cache/ov
-    - type: volume
-      source: isaac-cache-pip
-      target: ${DOCKER_USER_HOME}/.cache/pip
-    - type: volume
-      source: isaac-cache-gl
-      target: ${DOCKER_USER_HOME}/.cache/nvidia/GLCache
-    - type: volume
-      source: isaac-cache-compute
-      target: ${DOCKER_USER_HOME}/.nv/ComputeCache
-    - type: volume
-      source: isaac-logs
-      target: ${DOCKER_USER_HOME}/.nvidia-omniverse/logs
-    - type: volume
-      source: isaac-carb-logs
-      target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/logs/Kit/Isaac-Sim
-    - type: volume
-      source: isaac-data
-      target: ${DOCKER_USER_HOME}/.local/share/ov/data
-    - type: volume
-      source: isaac-docs
-      target: ${DOCKER_USER_HOME}/Documents
-      # These volumes allow X11 Forwarding
-      # We currently comment these out because they can
-      # cause bugs and warnings for people uninterested in
-      # X11 Forwarding from within the docker. We keep them
-      # as comments as a convenience for those seeking X11
-      # forwarding until a scripted solution is developed
-    # - type: bind
-    #   source: /tmp/.X11-unix
-    #   target: /tmp/.X11-unix
-    # - type: bind
-    #   source: ${HOME}/.Xauthority
-    #   target: ${DOCKER_USER_HOME}/.Xauthority
-      # This overlay allows changes on the local files to
-      # be reflected within the container immediately
-    - type: bind
-      source: ../source
-      target: /workspace/orbit/source
-    - type: bind
-      source: ../docs
-      target: /workspace/orbit/docs
-      # The effect of these volumes is twofold:
-      # 1. Prevent root-owned files from flooding the _build and logs dir
-      #    on the host machine
-      # 2. Preserve the artifacts in persistent volumes for later copying
-      #    to the host machine
-    - type: volume
-      source: orbit-docs
-      target: /workspace/orbit/docs/_build
-    - type: volume
-      source: orbit-logs
-      target: /workspace/orbit/logs
-    - type: volume
-      source: orbit-data
-      target: /workspace/orbit/data_storage
+x-default-orbit-volumes: &default-orbit-volumes
+  # These volumes follow from this page
+  # https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#save-isaac-sim-configs-on-local-disk
+  - type: volume
+    source: isaac-cache-kit
+    target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/cache
+  - type: volume
+    source: isaac-cache-ov
+    target: ${DOCKER_USER_HOME}/.cache/ov
+  - type: volume
+    source: isaac-cache-pip
+    target: ${DOCKER_USER_HOME}/.cache/pip
+  - type: volume
+    source: isaac-cache-gl
+    target: ${DOCKER_USER_HOME}/.cache/nvidia/GLCache
+  - type: volume
+    source: isaac-cache-compute
+    target: ${DOCKER_USER_HOME}/.nv/ComputeCache
+  - type: volume
+    source: isaac-logs
+    target: ${DOCKER_USER_HOME}/.nvidia-omniverse/logs
+  - type: volume
+    source: isaac-carb-logs
+    target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/logs/Kit/Isaac-Sim
+  - type: volume
+    source: isaac-data
+    target: ${DOCKER_USER_HOME}/.local/share/ov/data
+  - type: volume
+    source: isaac-docs
+    target: ${DOCKER_USER_HOME}/Documents
+    # This overlay allows changes on the local files to
+    # be reflected within the container immediately
+  - type: bind
+    source: ../source
+    target: /workspace/orbit/source
+  - type: bind
+    source: ../docs
+    target: /workspace/orbit/docs
+    # The effect of these volumes is twofold:
+    # 1. Prevent root-owned files from flooding the _build and logs dir
+    #    on the host machine
+    # 2. Preserve the artifacts in persistent volumes for later copying
+    #    to the host machine
+  - type: volume
+    source: orbit-docs
+    target: /workspace/orbit/docs/_build
+  - type: volume
+    source: orbit-logs
+    target: /workspace/orbit/logs
+  - type: volume
+    source: orbit-data
+    target: /workspace/orbit/data_storage
 
-x-default-orbit-deploy:
-  &default-orbit-deploy
-    resources:
-      reservations:
-        devices:
-          - driver: nvidia
-            count: all
-            capabilities: [ gpu ]
+x-default-orbit-environment: &default-orbit-environment
+  - ISAACSIM_PATH=${DOCKER_ORBIT_PATH}/_isaac_sim
+  - ORBIT_PATH=${DOCKER_ORBIT_PATH}
+  - OMNI_KIT_ALLOW_ROOT=1
+
+x-default-orbit-deploy: &default-orbit-deploy
+  resources:
+    reservations:
+      devices:
+        - driver: nvidia
+          count: all
+          capabilities: [ gpu ]
 
 services:
   # This service is the base Orbit image
   orbit-base:
-    profiles: ["base"]
+    profiles: [ "base" ]
     env_file: .env.base
     build:
       context: ../
@@ -92,13 +83,7 @@ services:
         - DOCKER_USER_HOME=${DOCKER_USER_HOME}
     image: orbit-base
     container_name: orbit-base
-    environment:
-      # We can't just define this in the .env file because shell envars take precedence
-      # https://docs.docker.com/compose/environment-variables/envvars-precedence/
-      - ISAACSIM_PATH=${DOCKER_ORBIT_PATH}/_isaac_sim
-      - ORBIT_PATH=${DOCKER_ORBIT_PATH}
-      # This should also be enabled for X11 forwarding
-      # - DISPLAY=${DISPLAY}
+    environment: *default-orbit-environment
     volumes: *default-orbit-volumes
     network_mode: host
     deploy: *default-orbit-deploy
@@ -110,7 +95,7 @@ services:
   # This service adds a ROS2 Humble
   # installation on top of the base image
   orbit-ros2:
-    profiles: ["ros2"]
+    profiles: [ "ros2" ]
     env_file:
       - .env.base
       - .env.ros2
@@ -118,16 +103,14 @@ services:
       context: ../
       dockerfile: docker/Dockerfile.ros2
       args:
-          # ROS2_APT_PACKAGE will default to NONE. This is to
-          # avoid a warning message when building only the base profile
-          # with the .env.base file
+        # ROS2_APT_PACKAGE will default to NONE. This is to
+        # avoid a warning message when building only the base profile
+        # with the .env.base file
         - ROS2_APT_PACKAGE=${ROS2_APT_PACKAGE:-NONE}
         - DOCKER_USER_HOME=${DOCKER_USER_HOME}
     image: orbit-ros2
     container_name: orbit-ros2
-    environment:
-      - ISAACSIM_PATH=${DOCKER_ORBIT_PATH}/_isaac_sim
-      - ORBIT_PATH=${DOCKER_ORBIT_PATH}
+    environment: *default-orbit-environment
     volumes: *default-orbit-volumes
     network_mode: host
     deploy: *default-orbit-deploy
diff --git a/docker/x11.yaml b/docker/x11.yaml
new file mode 100644
index 0000000000..bbd8f36ecc
--- /dev/null
+++ b/docker/x11.yaml
@@ -0,0 +1,36 @@
+services:
+  orbit-base:
+    environment:
+      - DISPLAY
+      - TERM
+      - QT_X11_NO_MITSHM=1
+      - XAUTHORITY=${__ORBIT_TMP_XAUTH}
+    volumes:
+    - type: bind
+      source: ${__ORBIT_TMP_XAUTH}
+      target: ${__ORBIT_TMP_XAUTH}
+    - type: bind
+      source: /tmp/.X11-unix
+      target: /tmp/.X11-unix
+    - type: bind
+      source: /etc/localtime
+      target: /etc/localtime
+      read_only: true
+
+  orbit-ros2:
+    environment:
+      - DISPLAY
+      - TERM
+      - QT_X11_NO_MITSHM=1
+      - XAUTHORITY=${__ORBIT_TMP_XAUTH}
+    volumes:
+    - type: bind
+      source: ${__ORBIT_TMP_XAUTH}
+      target: ${__ORBIT_TMP_XAUTH}
+    - type: bind
+      source: /tmp/.X11-unix
+      target: /tmp/.X11-unix
+    - type: bind
+      source: /etc/localtime
+      target: /etc/localtime
+      read_only: true