diff --git a/aloha_ws/docker/.bashrc b/aloha_ws/docker/.bashrc
index c3c465fb..a2b98f43 100644
--- a/aloha_ws/docker/.bashrc
+++ b/aloha_ws/docker/.bashrc
@@ -42,12 +42,6 @@ if [ $(arch) == "x86_64" ]; then
   source /usr/share/gazebo/setup.bash
 fi
 # TODO: Source other workspace environments as underlay
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/aloha_ws/docker/Dockerfile b/aloha_ws/docker/Dockerfile
index 19c626fb..d521c0ef 100644
--- a/aloha_ws/docker/Dockerfile
+++ b/aloha_ws/docker/Dockerfile
@@ -121,6 +121,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/cartographer_ws/docker/.bashrc b/cartographer_ws/docker/.bashrc
index 2f0726eb..44986b7a 100644
--- a/cartographer_ws/docker/.bashrc
+++ b/cartographer_ws/docker/.bashrc
@@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
   source /usr/share/gazebo/setup.bash
 fi
 # TODO: Source other workspace environments as underlay
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/cartographer_ws/docker/Dockerfile b/cartographer_ws/docker/Dockerfile
index bc7a625a..3a233d40 100644
--- a/cartographer_ws/docker/Dockerfile
+++ b/cartographer_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/gazebo_world_ws/docker/.bashrc b/gazebo_world_ws/docker/.bashrc
index 2f0726eb..44986b7a 100644
--- a/gazebo_world_ws/docker/.bashrc
+++ b/gazebo_world_ws/docker/.bashrc
@@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
   source /usr/share/gazebo/setup.bash
 fi
 # TODO: Source other workspace environments as underlay
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/gazebo_world_ws/docker/Dockerfile b/gazebo_world_ws/docker/Dockerfile
index 8b662bfc..538fe56b 100644
--- a/gazebo_world_ws/docker/Dockerfile
+++ b/gazebo_world_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/husky_ws/docker/.bashrc b/husky_ws/docker/.bashrc
index 7065e313..085b17e1 100644
--- a/husky_ws/docker/.bashrc
+++ b/husky_ws/docker/.bashrc
@@ -45,12 +45,6 @@ fi
 source ~/husky_driver_ws/install/local_setup.bash
 # Source Clearpath default environment installed by `clearpath_computer_installer.sh`
 source /etc/clearpath/setup.bash
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/husky_ws/docker/Dockerfile b/husky_ws/docker/Dockerfile
index bc17b319..b38d8051 100644
--- a/husky_ws/docker/Dockerfile
+++ b/husky_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/jazzy_template_ws/docker/.bashrc b/jazzy_template_ws/docker/.bashrc
index 2f0726eb..44986b7a 100644
--- a/jazzy_template_ws/docker/.bashrc
+++ b/jazzy_template_ws/docker/.bashrc
@@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
   source /usr/share/gazebo/setup.bash
 fi
 # TODO: Source other workspace environments as underlay
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/jazzy_template_ws/docker/Dockerfile b/jazzy_template_ws/docker/Dockerfile
index ab7aa26f..2644031a 100644
--- a/jazzy_template_ws/docker/Dockerfile
+++ b/jazzy_template_ws/docker/Dockerfile
@@ -119,16 +119,7 @@ USER $USERNAME
 RUN mkdir /home/$USERNAME/.gazebo
 
 # Temporarily remove Isaac Sim since Ubuntu 24 uses Python 3.12 by default.
-# # Install Isaac Sim (requires Python 3.10)
-# # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
-# # TODO: Remove the note above when it is no longer experimental
-# # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-# RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
-#     if [ "$TARGETARCH" = "amd64" ]; then \
-#         python3 -V | grep "Python 3.10" \
-#         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
-#         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
-#     fi
+# TODO: Add back Isaac Sim
 
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
diff --git a/kobuki_ws/docker/.bashrc b/kobuki_ws/docker/.bashrc
index 478f54b2..5e0442b7 100644
--- a/kobuki_ws/docker/.bashrc
+++ b/kobuki_ws/docker/.bashrc
@@ -43,12 +43,6 @@ fi
 # TODO: Source other workspace environments as underlay
 # Source kobuki driver workspace environment
 source ~/kobuki_driver_ws/install/local_setup.bash
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/kobuki_ws/docker/Dockerfile b/kobuki_ws/docker/Dockerfile
index a5a95fcd..9445bf27 100644
--- a/kobuki_ws/docker/Dockerfile
+++ b/kobuki_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/orbslam3_ws/docker/.bashrc b/orbslam3_ws/docker/.bashrc
index 9a94de6a..73aab362 100644
--- a/orbslam3_ws/docker/.bashrc
+++ b/orbslam3_ws/docker/.bashrc
@@ -42,12 +42,6 @@ if [ $(arch) == "x86_64" ]; then
 fi
 # TODO: Source other workspace environments as underlay
 source ~/test_ws/install/local_setup.bash
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/orbslam3_ws/docker/Dockerfile b/orbslam3_ws/docker/Dockerfile
index ea9a4d95..38b69e55 100644
--- a/orbslam3_ws/docker/Dockerfile
+++ b/orbslam3_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/rtabmap_ws/docker/.bashrc b/rtabmap_ws/docker/.bashrc
index 2f0726eb..44986b7a 100644
--- a/rtabmap_ws/docker/.bashrc
+++ b/rtabmap_ws/docker/.bashrc
@@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
   source /usr/share/gazebo/setup.bash
 fi
 # TODO: Source other workspace environments as underlay
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/rtabmap_ws/docker/Dockerfile b/rtabmap_ws/docker/Dockerfile
index 69790efd..83c8081f 100644
--- a/rtabmap_ws/docker/Dockerfile
+++ b/rtabmap_ws/docker/Dockerfile
@@ -126,6 +126,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/template_ws/docker/.bashrc b/template_ws/docker/.bashrc
index 2f0726eb..44986b7a 100644
--- a/template_ws/docker/.bashrc
+++ b/template_ws/docker/.bashrc
@@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
   source /usr/share/gazebo/setup.bash
 fi
 # TODO: Source other workspace environments as underlay
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/template_ws/docker/Dockerfile b/template_ws/docker/Dockerfile
index 14441e26..2e4bf309 100644
--- a/template_ws/docker/Dockerfile
+++ b/template_ws/docker/Dockerfile
@@ -121,6 +121,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/tests/diff_base/docker/.bashrc b/tests/diff_base/docker/.bashrc
index fc239929..b63224b8 100644
--- a/tests/diff_base/docker/.bashrc
+++ b/tests/diff_base/docker/.bashrc
@@ -44,12 +44,6 @@ if [ $(arch) == "x86_64" ]; then
 fi
 # TODO: Source other workspace environments as underlay
 {PLACEHOLDER_MULTILINE}
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/tests/diff_base/docker/Dockerfile b/tests/diff_base/docker/Dockerfile
index 083d021d..6d323dc0 100644
--- a/tests/diff_base/docker/Dockerfile
+++ b/tests/diff_base/docker/Dockerfile
@@ -121,6 +121,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/vlp_ws/docker/.bashrc b/vlp_ws/docker/.bashrc
index 9e7767a4..b03759d4 100644
--- a/vlp_ws/docker/.bashrc
+++ b/vlp_ws/docker/.bashrc
@@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
   source /usr/share/gazebo/setup.bash
 fi
 # TODO: Source other workspace environments as underlay
-# Set Isaac Sim environment variables
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
-# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
-export OMNI_USER=admin
-export OMNI_PASS=admin
-export OMNI_KIT_ACCEPT_EULA=YES
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/vlp_ws/docker/Dockerfile b/vlp_ws/docker/Dockerfile
index 76272711..f973190f 100644
--- a/vlp_ws/docker/Dockerfile
+++ b/vlp_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
 
+# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
+RUN pip install scipy==1.14.1 numpy==1.26.0
+
+# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
+RUN sudo mkdir -p /isaac-sim/kit/cache \
+    && sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
+RUN mkdir -p /home/$USERNAME/.cache/ov \
+    && mkdir -p /home/$USERNAME/.cache/pip \
+    && mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
+    && mkdir -p /home/$USERNAME/.nv/ComputeCache \
+    && mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
+    && mkdir -p /home/$USERNAME/.local/share/ov/data \
+    && mkdir -p /home/$USERNAME/Documents
+
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+ENV OMNI_KIT_ACCEPT_EULA=YES
+
 # Install custom tools
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \