diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index c30ae91..5106a87 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -7,11 +7,7 @@
     "runServices": ["sim"],
     "workspaceFolder": "/home/trickfire/gazebo-simulations",
     "postCreateCommand": "[ -d .venv ] || (python3 -m venv --system-site-packages .venv && . .venv/bin/activate && pip install -e .)",
-    // "postStartCommand": "bash ./.devcontainer/x_server.sh",
-    "mounts": [
-        "source=${localEnv:HOME}/.ssh,target=/home/trickfire/.ssh,type=bind,consistency=cached",
-        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached"
-    ],
+    "postStartCommand": "bash ./.devcontainer/x_server.sh || exit 0",
     "forwardPorts": [6080, 5900],
     "customizations": {
         "vscode": {
diff --git a/cli/cli.py b/cli/cli.py
index 7fe09f7..9212213 100644
--- a/cli/cli.py
+++ b/cli/cli.py
@@ -3,14 +3,16 @@
 import argparse
 import shutil
 import sys
+import threading
 
-from .docker import build_and_launch
+from .docker import build_and_launch, check_display
 from .native import build_and_launch_native
 from .create import create as robot_create, update as robot_update, PACKAGE_DIR, REPO_ROOT
 from .create.commands import cmd_local, cmd_raw
 from .auth import auth as cmd_auth
 from .output import die, info
 from .paths import WORKSPACE_DIR
+from .drpc import rpc_start
 
 
 def main() -> None:
@@ -134,8 +136,15 @@ def main() -> None:
 
     try:
         if args.command == "docker":
+            threading.Thread(
+                target=rpc_start, kwargs={"is_docker": True, "robot_name": args.robot}, daemon=True
+            ).start()
+            check_display()
             build_and_launch(args.robot, build_only=args.build_only, no_build=args.no_build)
         elif args.command == "native":
+            threading.Thread(
+                target=rpc_start, kwargs={"is_docker": False, "robot_name": args.robot}, daemon=True
+            ).start()
             build_and_launch_native(args.robot, build_only=args.build_only, no_build=args.no_build)
         elif args.command == "clean":
             for name in ("build", "install", "log"):
diff --git a/cli/docker.py b/cli/docker.py
index 88dfe75..179221a 100644
--- a/cli/docker.py
+++ b/cli/docker.py
@@ -114,6 +114,20 @@ def _run_logged_command(
         raise subprocess.CalledProcessError(return_code, command)
 
 
+def check_display() -> None:
+    """Check that a display is available and can be connected to"""
+    info("Checking for display...")
+    display = os.environ.copy().get("DISPLAY")
+    if not display:
+        die("DISPLAY environment variable not set")
+
+    display_running = subprocess.call(
+        ["xdpyinfo", "-display", display], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL
+    )
+    if display_running != 0:
+        die("Cannot connect to display " + display)
+
+
 def build_and_launch(robot_name: str, *, build_only: bool = False, no_build: bool = False) -> None:
     """Build the workspace and launch a robot simulation."""
     if build_only and no_build:
@@ -171,17 +185,6 @@ def build_and_launch(robot_name: str, *, build_only: bool = False, no_build: boo
         info("Build-only requested; skipping launch")
         return
 
-    info("Checking for display...")
-    display = env.get("DISPLAY")
-    if not display:
-        die("DISPLAY environment variable not set")
-
-    display_running = subprocess.call(["xdpyinfo", "-display", display],
-                                      stdout=subprocess.DEVNULL,
-                                      stderr=subprocess.DEVNULL)
-    if display_running != 0:
-        die("Cannot connect to display " + display)
-
     info("Sourcing ROS2 environment and launching simulation...")
     launch_script = f"""
 set -e
diff --git a/cli/drpc.py b/cli/drpc.py
new file mode 100644
index 0000000..f2264b4
--- /dev/null
+++ b/cli/drpc.py
@@ -0,0 +1,49 @@
+"""Discord Rich Presence (DRPC) integration for TrickFire Simulation"""
+
+import os
+import sys
+import time
+
+from pypresence import Presence
+
+
+def _find_discord_socket_dir() -> str | None:
+    """Return the directory containing a discord-ipc-N socket, or None if not found."""
+    candidates = [
+        os.environ.get("XDG_RUNTIME_DIR"),  # standard Linux user session
+        os.environ.get("TMPDIR"),
+        "/run/host-runtime",  # devcontainer: host XDG_RUNTIME_DIR mounted here
+        "/run/user/1000",  # fallback for some Linux distros
+        "/tmp",
+    ]
+    for base in filter(None, candidates):
+        for i in range(10):
+            if os.path.exists(os.path.join(base, f"discord-ipc-{i}")):
+                return base
+    return None
+
+
+def rpc_start(is_docker: bool = False, robot_name: str = "Unknown Robot") -> None:
+    """Start DRPC in a separate thread"""
+    try:
+        if sys.platform == "linux":
+            socket_dir = _find_discord_socket_dir()
+            if socket_dir is None:
+                print("Discord RPC unavailable: no Discord IPC socket found")
+                return
+            # pypresence checks TMPDIR early in its path search; point it at the socket dir
+            # so it works both natively and inside the devcontainer (/run/host-runtime).
+            os.environ["TMPDIR"] = socket_dir
+
+        client_id = "1504990746527404063"
+        rpc = Presence(client_id)
+        rpc.connect()
+        rpc.update(
+            name="TrickFire Simulation (" + robot_name + ")",
+            details="Running TrickFire Simulation on " + robot_name,
+            state="Running in Docker" if is_docker else "Running locally",
+        )
+        while True:
+            time.sleep(15)
+    except Exception as e:  # pylint: disable=broad-except
+        print(f"Discord RPC unavailable: {e}")
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 8b2a960..9604530 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -102,6 +102,8 @@ RUN printf '#include <stdlib.h>\nint drmCloseBufferHandle(int fd, unsigned int h
 # --------------------------------------
 # Python packages
 
+RUN pip3 install --break-system-packages \
+    pypresence
 RUN rosdep init || true
 
 # --------------------------------------
diff --git a/docker/docker-compose-dev.yml b/docker/docker-compose-dev.yml
index af0a469..d003f94 100644
--- a/docker/docker-compose-dev.yml
+++ b/docker/docker-compose-dev.yml
@@ -4,3 +4,16 @@ services:
       target: dev
       args:
         USER_UID: "${UID:-1000}"
+    volumes:
+      - ${XDG_RUNTIME_DIR:-/tmp}:/run/host-runtime:ro
+      - type: bind
+        source: ${HOME}/.ssh
+        target: /home/trickfire/.ssh
+        read_only: true
+        bind:
+          create_host_path: true
+      - type: bind
+        source: /tmp/.X11-unix
+        target: /tmp/.X11-unix
+        bind:
+          create_host_path: true
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
index 2cb3ff5..4972d32 100644
--- a/docker/docker-compose.yml
+++ b/docker/docker-compose.yml
@@ -25,6 +25,11 @@ services:
 
     volumes:
       - ..:/home/trickfire/gazebo-simulations
+      - type: bind
+        source: ${XDG_RUNTIME_DIR:-/run/user/1000}
+        target: /run/user/1000
+        bind:
+          create_host_path: true
 
     working_dir: /home/trickfire/gazebo-simulations
 
diff --git a/pixi.lock b/pixi.lock
index 12f74d4..31b074c 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -959,6 +959,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/81/47/dd9a212ef6e343a6857485ffe25bba537304f1913bdbed446a23f7f592e1/filelock-3.29.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/bd/0d/1c817c6769ce0b64cc0dcc20bc9d0edb4dc560e83a3b5f0d5cbda04c3d35/pypresence-4.6.1-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/d0/07/86ad9e08fd22d5fbb19f8becfe14195c3388290cc98d58849ef4607f91b8/commentjson-0.8.2.tar.gz
       - pypi: https://files.pythonhosted.org/packages/d4/69/31c82567719b34d8f6b41077732589104883771d182a9f4ff3e71430999a/python_utils-3.9.1-py2.py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/ea/2c/e17b8814050427929077639d35a42187a006922600d4840475bdc5f64ebb/numpy_stl-3.2.0-py3-none-any.whl
@@ -1898,6 +1899,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/81/47/dd9a212ef6e343a6857485ffe25bba537304f1913bdbed446a23f7f592e1/filelock-3.29.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/bd/0d/1c817c6769ce0b64cc0dcc20bc9d0edb4dc560e83a3b5f0d5cbda04c3d35/pypresence-4.6.1-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/d0/07/86ad9e08fd22d5fbb19f8becfe14195c3388290cc98d58849ef4607f91b8/commentjson-0.8.2.tar.gz
       - pypi: https://files.pythonhosted.org/packages/d4/69/31c82567719b34d8f6b41077732589104883771d182a9f4ff3e71430999a/python_utils-3.9.1-py2.py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/ea/2c/e17b8814050427929077639d35a42187a006922600d4840475bdc5f64ebb/numpy_stl-3.2.0-py3-none-any.whl
@@ -2767,6 +2769,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/81/47/dd9a212ef6e343a6857485ffe25bba537304f1913bdbed446a23f7f592e1/filelock-3.29.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/bd/0d/1c817c6769ce0b64cc0dcc20bc9d0edb4dc560e83a3b5f0d5cbda04c3d35/pypresence-4.6.1-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/d0/07/86ad9e08fd22d5fbb19f8becfe14195c3388290cc98d58849ef4607f91b8/commentjson-0.8.2.tar.gz
       - pypi: https://files.pythonhosted.org/packages/d4/69/31c82567719b34d8f6b41077732589104883771d182a9f4ff3e71430999a/python_utils-3.9.1-py2.py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/ea/2c/e17b8814050427929077639d35a42187a006922600d4840475bdc5f64ebb/numpy_stl-3.2.0-py3-none-any.whl
@@ -3635,6 +3638,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/81/47/dd9a212ef6e343a6857485ffe25bba537304f1913bdbed446a23f7f592e1/filelock-3.29.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/bd/0d/1c817c6769ce0b64cc0dcc20bc9d0edb4dc560e83a3b5f0d5cbda04c3d35/pypresence-4.6.1-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/d0/07/86ad9e08fd22d5fbb19f8becfe14195c3388290cc98d58849ef4607f91b8/commentjson-0.8.2.tar.gz
       - pypi: https://files.pythonhosted.org/packages/d4/69/31c82567719b34d8f6b41077732589104883771d182a9f4ff3e71430999a/python_utils-3.9.1-py2.py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/ea/2c/e17b8814050427929077639d35a42187a006922600d4840475bdc5f64ebb/numpy_stl-3.2.0-py3-none-any.whl
@@ -62131,6 +62135,22 @@ packages:
   - pysocks>=1.5.6,!=1.5.7 ; extra == 'socks'
   - chardet>=3.0.2,<8 ; extra == 'use-chardet-on-py3'
   requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/bd/0d/1c817c6769ce0b64cc0dcc20bc9d0edb4dc560e83a3b5f0d5cbda04c3d35/pypresence-4.6.1-py3-none-any.whl
+  name: pypresence
+  version: 4.6.1
+  sha256: 33d4549fcdf4102f81935df4ba587bacb22193e0c50c541d1ab9329b21df33cd
+  requires_dist:
+  - pytest>=7.0.0 ; extra == 'dev'
+  - pytest-asyncio>=0.21.0 ; extra == 'dev'
+  - pytest-mock>=3.10.0 ; extra == 'dev'
+  - pytest-cov>=4.0.0 ; extra == 'dev'
+  - black>=23.0.0 ; extra == 'dev'
+  - flake8>=6.0.0 ; extra == 'dev'
+  - mypy>=1.0.0 ; extra == 'dev'
+  - isort>=5.12.0 ; extra == 'dev'
+  - sphinx>=5.0.0 ; extra == 'dev'
+  - sphinx-rtd-theme>=1.2.0 ; extra == 'dev'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/d0/07/86ad9e08fd22d5fbb19f8becfe14195c3388290cc98d58849ef4607f91b8/commentjson-0.8.2.tar.gz
   name: commentjson
   version: 0.8.2
diff --git a/pixi.toml b/pixi.toml
index 31b5ee0..6760e11 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -20,3 +20,4 @@ scripts = [".devcontainer/pixi.sh"]
 [pypi-dependencies]
 sim = { path = ".", editable = true }
 filelock = "*"
+pypresence = "*"