Merge pull request #69 from j3soon/fix-isaac-sim-launch-errors

Fix Isaac Sim launch errors
j3soon · Dec 14, 2024 · 7e9aa51 · 7e9aa51
2 parents c890860 + 4aabbeb
commit 7e9aa51
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Showing 22 changed files with 211 additions and 76 deletions.
diff --git 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 $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/aloha_ws/docker/Dockerfile b/aloha_ws/docker/Dockerfile
@@ -121,6 +121,27 @@ RUN --mount=type=cache,target=/home/$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
@@ -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 $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/cartographer_ws/docker/Dockerfile b/cartographer_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$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
@@ -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 $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/gazebo_world_ws/docker/Dockerfile b/gazebo_world_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$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
@@ -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 $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/husky_ws/docker/Dockerfile b/husky_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$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
@@ -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
@@ -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
@@ -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 $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/kobuki_ws/docker/Dockerfile b/kobuki_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$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
@@ -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 $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/orbslam3_ws/docker/Dockerfile b/orbslam3_ws/docker/Dockerfile
@@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$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
@@ -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 $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/rtabmap_ws/docker/Dockerfile b/rtabmap_ws/docker/Dockerfile
@@ -126,6 +126,27 @@ RUN --mount=type=cache,target=/home/$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
@@ -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 $ROS2_WS/install/setup.bash
 echo "Successfully built workspace and configured environment variables."
diff --git a/template_ws/docker/Dockerfile b/template_ws/docker/Dockerfile
@@ -121,6 +121,27 @@ RUN --mount=type=cache,target=/home/$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
@@ -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."