diff --git a/cartographer_ws/docker/.bashrc b/cartographer_ws/docker/.bashrc
index ed090d4a..2f0726eb 100644
--- a/cartographer_ws/docker/.bashrc
+++ b/cartographer_ws/docker/.bashrc
@@ -1,3 +1,12 @@
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet
@@ -9,13 +18,14 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
@@ -25,6 +35,18 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+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 f6e5178c..e7dd7b17 100644
--- a/cartographer_ws/docker/Dockerfile
+++ b/cartographer_ws/docker/Dockerfile
@@ -59,12 +59,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -80,23 +107,36 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
+USER $USERNAME
+
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
 # TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
+    sudo apt-get update && sudo apt-get install -y \
     ros-$ROS_DISTRO-cartographer \
     ros-$ROS_DISTRO-turtlebot3* \
     ros-$ROS_DISTRO-rqt-robot-steering \
-    && rm -rf /var/lib/apt/lists/*
+    && sudo rm -rf /var/lib/apt/lists/*
 
-USER $USERNAME
-# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
-RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
diff --git a/cartographer_ws/docker/compose.yaml b/cartographer_ws/docker/compose.yaml
index cb079eb1..62d0267c 100644
--- a/cartographer_ws/docker/compose.yaml
+++ b/cartographer_ws/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   cartographer-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -61,9 +75,69 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache
diff --git a/gazebo_world_ws/docker/.bashrc b/gazebo_world_ws/docker/.bashrc
index 8e92c030..2f0726eb 100644
--- a/gazebo_world_ws/docker/.bashrc
+++ b/gazebo_world_ws/docker/.bashrc
@@ -1,7 +1,11 @@
-# Check if the architecture is aarch64
-if [ $(arch) == "aarch64" ]; then
-    echo "Architecture is aarch64, which is not supported by Gazebo. Exiting..."
-    exit 1
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
 fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
@@ -14,13 +18,14 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
@@ -30,6 +35,18 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+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 524c28b3..132a3d97 100644
--- a/gazebo_world_ws/docker/Dockerfile
+++ b/gazebo_world_ws/docker/Dockerfile
@@ -59,12 +59,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -80,17 +107,29 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
-# TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
-
 USER $USERNAME
+
 # Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
 RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# TODO: Add more commands here
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
diff --git a/gazebo_world_ws/docker/compose.yaml b/gazebo_world_ws/docker/compose.yaml
index 06a3b140..6cb0eefb 100644
--- a/gazebo_world_ws/docker/compose.yaml
+++ b/gazebo_world_ws/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   gazebo-world-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -61,9 +75,69 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache
diff --git a/husky_ws/docker/.bashrc b/husky_ws/docker/.bashrc
index 1f680580..7065e313 100644
--- a/husky_ws/docker/.bashrc
+++ b/husky_ws/docker/.bashrc
@@ -1,3 +1,12 @@
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet
@@ -9,26 +18,39 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
-        colcon build --symlink-install
+        colcon build --symlink-install --packages-ignore velodyne_gazebo_plugins
     else
         colcon build --symlink-install
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+if [ $(arch) == "x86_64" ]; then
+  source /usr/share/gazebo/setup.bash
+fi
 # TODO: Source other workspace environments as underlay
 # Source Clearpath robot environment
 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 e15a4efb..4db9f25a 100644
--- a/husky_ws/docker/Dockerfile
+++ b/husky_ws/docker/Dockerfile
@@ -59,12 +59,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -80,14 +107,31 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
+USER $USERNAME
+
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
 # TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
+    sudo apt-get update && sudo apt-get install -y \
     # The packages below are used by the Husky repository.
     ros-$ROS_DISTRO-controller-manager \
     ros-$ROS_DISTRO-diff-drive-controller \
@@ -112,12 +156,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-slam-toolbox \
     ros-$ROS_DISTRO-imu-tools \
     ros-$ROS_DISTRO-teleop-twist-keyboard \
-    && rm -rf /var/lib/apt/lists/*
-
-USER $USERNAME
-# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
-RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
+    && sudo rm -rf /var/lib/apt/lists/*
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 
diff --git a/husky_ws/docker/compose.yaml b/husky_ws/docker/compose.yaml
index 8bb97b10..7bc5176b 100644
--- a/husky_ws/docker/compose.yaml
+++ b/husky_ws/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   husky-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -61,9 +75,69 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache
diff --git a/kobuki_ws/docker/.bashrc b/kobuki_ws/docker/.bashrc
index 2641d9fb..478f54b2 100644
--- a/kobuki_ws/docker/.bashrc
+++ b/kobuki_ws/docker/.bashrc
@@ -1,3 +1,12 @@
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet
@@ -9,13 +18,14 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
@@ -25,8 +35,20 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+if [ $(arch) == "x86_64" ]; then
+  source /usr/share/gazebo/setup.bash
+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 b0823e44..232b2420 100644
--- a/kobuki_ws/docker/Dockerfile
+++ b/kobuki_ws/docker/Dockerfile
@@ -59,12 +59,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -80,13 +107,29 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
-# TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
+USER $USERNAME
+
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
 
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# TODO: Add more commands here
 RUN if [ "$TARGETARCH" = "arm64" ]; then \
         # Fix the issue of Eigen
         # Reference: https://gitlab.com/libeigen/eigen/-/issues/2326
@@ -98,7 +141,7 @@ RUN if [ "$TARGETARCH" = "arm64" ]; then \
 # sudo rosdep install --from-paths src --ignore-src -y
 # Install these packages to avoid having to run `rosdep install` every time you build the workspace.
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
+    sudo apt-get update && sudo apt-get install -y \
     ros-$ROS_DISTRO-rviz2 \
     ros-$ROS_DISTRO-ros-testing \
     ros-$ROS_DISTRO-kobuki-velocity-smoother \
@@ -122,12 +165,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-nav2-bringup \
     ros-$ROS_DISTRO-slam-toolbox \
     ros-$ROS_DISTRO-robot-localization \
-    && rm -rf /var/lib/apt/lists/*
-
-USER $USERNAME
-# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
-RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
+    && sudo rm -rf /var/lib/apt/lists/*
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 
diff --git a/kobuki_ws/docker/compose.yaml b/kobuki_ws/docker/compose.yaml
index 7471d5f6..22be28ab 100644
--- a/kobuki_ws/docker/compose.yaml
+++ b/kobuki_ws/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   kobuki-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -61,9 +75,69 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache
diff --git a/orbslam3_ws/docker/.bashrc b/orbslam3_ws/docker/.bashrc
index 0fc8a65e..9a94de6a 100644
--- a/orbslam3_ws/docker/.bashrc
+++ b/orbslam3_ws/docker/.bashrc
@@ -1,3 +1,12 @@
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet
@@ -9,23 +18,36 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
-        colcon build --symlink-install
+        colcon build --symlink-install --packages-ignore velodyne_gazebo_plugins
     else
         colcon build --symlink-install
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+if [ $(arch) == "x86_64" ]; then
+  source /usr/share/gazebo/setup.bash
+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 54f8c52b..56e823b0 100644
--- a/orbslam3_ws/docker/Dockerfile
+++ b/orbslam3_ws/docker/Dockerfile
@@ -59,12 +59,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -80,14 +107,31 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
+USER $USERNAME
+
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
 # TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
+    sudo apt-get update && sudo apt-get install -y \
     # ORB-SLAM dependencies
     libopencv-dev \
     opencv-data \
@@ -98,12 +142,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     # ROS dependencies
     ros-$ROS_DISTRO-vision-opencv \
     ros-$ROS_DISTRO-message-filters \
-    && rm -rf /var/lib/apt/lists/*
-
-USER $USERNAME
-# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
-RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
+    && sudo rm -rf /var/lib/apt/lists/*
 
 # Build Pangolin from source at commit: https://github.com/stevenlovegrove/Pangolin/tree/d484494645cb7361374ac0ef6b27e9ee6feffbd7
 # TODO(@j3soon): Simplify the git commands here
diff --git a/orbslam3_ws/docker/compose.yaml b/orbslam3_ws/docker/compose.yaml
index 88a94a74..95a97e48 100644
--- a/orbslam3_ws/docker/compose.yaml
+++ b/orbslam3_ws/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   orbslam3-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -61,9 +75,69 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache
diff --git a/rtabmap_ws/docker/.bashrc b/rtabmap_ws/docker/.bashrc
index ed090d4a..2f0726eb 100644
--- a/rtabmap_ws/docker/.bashrc
+++ b/rtabmap_ws/docker/.bashrc
@@ -1,3 +1,12 @@
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet
@@ -9,13 +18,14 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
@@ -25,6 +35,18 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+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 dcbb15b3..22f153f1 100644
--- a/rtabmap_ws/docker/Dockerfile
+++ b/rtabmap_ws/docker/Dockerfile
@@ -11,6 +11,9 @@ ARG TARGETARCH
 
 LABEL org.opencontainers.image.authors="assume0701@gmail.com"
 
+# RTAB-Map docker image does not define ROS_DISTRO, so we need to define it here
+ENV ROS_DISTRO humble
+
 # Arguments for the default user
 ARG USERNAME=user
 ARG USER_UID=1000
@@ -28,9 +31,6 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get upgrade -y \
     && rm -rf /var/lib/apt/lists/*
 
-# RTAB-Map docker image does not define ROS_DISTRO, so we need to define it here
-ENV ROS_DISTRO humble
-
 # Install sudo and create a user with sudo privileges
 # Ref: https://stackoverflow.com/a/65434659
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
@@ -62,12 +62,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -83,25 +110,38 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
+USER $USERNAME
+
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
 # TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
+    sudo apt-get update && sudo apt-get install -y \
     ros-$ROS_DISTRO-turtlebot3 \
     ros-$ROS_DISTRO-turtlebot3-gazebo \
     ros-$ROS_DISTRO-joint-state-publisher-gui \
     ros-$ROS_DISTRO-rqt-robot-steering \
     ros-$ROS_DISTRO-rtabmap-ros \
-    && rm -rf /var/lib/apt/lists/*
+    && sudo rm -rf /var/lib/apt/lists/*
 
-USER $USERNAME
-# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
-RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
diff --git a/rtabmap_ws/docker/compose.yaml b/rtabmap_ws/docker/compose.yaml
index e0392a3c..fe23699b 100644
--- a/rtabmap_ws/docker/compose.yaml
+++ b/rtabmap_ws/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   rtabmap-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -61,9 +75,69 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache
diff --git a/template_ws/docker/.bashrc b/template_ws/docker/.bashrc
index ed090d4a..2f0726eb 100644
--- a/template_ws/docker/.bashrc
+++ b/template_ws/docker/.bashrc
@@ -1,3 +1,12 @@
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet
@@ -9,13 +18,14 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
@@ -25,6 +35,18 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+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 f7173a6f..168fc24d 100644
--- a/template_ws/docker/Dockerfile
+++ b/template_ws/docker/Dockerfile
@@ -57,12 +57,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -78,17 +105,29 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
-# TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
-
 USER $USERNAME
+
 # Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
 RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# TODO: Add more commands here
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
diff --git a/template_ws/docker/compose.yaml b/template_ws/docker/compose.yaml
index abe1e143..71f91389 100644
--- a/template_ws/docker/compose.yaml
+++ b/template_ws/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   template-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -61,9 +75,69 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache
diff --git a/tests/diff_base/docker/.bashrc b/tests/diff_base/docker/.bashrc
index a91c4e83..fc239929 100644
--- a/tests/diff_base/docker/.bashrc
+++ b/tests/diff_base/docker/.bashrc
@@ -1,4 +1,13 @@
 {PLACEHOLDER_MULTILINE}
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet
@@ -10,13 +19,14 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
@@ -26,7 +36,20 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+{PLACEHOLDER_MULTILINE}
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+if [ $(arch) == "x86_64" ]; then
+  source /usr/share/gazebo/setup.bash
+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 6c9c8594..a9242ee3 100644
--- a/tests/diff_base/docker/Dockerfile
+++ b/tests/diff_base/docker/Dockerfile
@@ -25,7 +25,7 @@ RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloa
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get upgrade -y \
     && rm -rf /var/lib/apt/lists/*
-{PLACEHOLDER_MULTILINE}
+
 # Install sudo and create a user with sudo privileges
 # Ref: https://stackoverflow.com/a/65434659
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
@@ -57,12 +57,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -78,17 +105,29 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
-# TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
-{PLACEHOLDER_MULTILINE}
 USER $USERNAME
+
 # Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
 RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# TODO: Add more commands here
 {PLACEHOLDER_MULTILINE}
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
diff --git a/tests/diff_base/docker/compose.yaml b/tests/diff_base/docker/compose.yaml
index d18260d2..7f56b391 100644
--- a/tests/diff_base/docker/compose.yaml
+++ b/tests/diff_base/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   {PLACEHOLDER}-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -62,6 +76,64 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
 {PLACEHOLDER_MULTILINE}
       # Mount root workspace to allow easy access to all workspaces.
@@ -69,3 +141,5 @@ services:
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache
diff --git a/tests/lint_comp_template.py b/tests/lint_comp_template.py
index 7afe1ac4..2391c112 100644
--- a/tests/lint_comp_template.py
+++ b/tests/lint_comp_template.py
@@ -24,6 +24,9 @@ def compare_file_with_template(filepath, targetpath=None, ignored_workspaces=[])
         # Skip certain cases intentionally
         if any(ws in filename for ws in ignored_workspaces):
             continue
+        # Global ignore
+        if any(ws in filename for ws in os.getenv('IGNORED_WORKSPACES', '').split()):
+            continue
         logging.debug(f"Checking: '{filename[len(repo_dir)+1:]}'...")
         content = Path(filename).read_text().splitlines(keepends=True)
         diff = list(filter(lambda x: x.startswith('- ') or x.startswith('+ ') or x.startswith('  '), difflib.ndiff(template, content)))
diff --git a/tests/lint_compose.py b/tests/lint_compose.py
index 3255731f..f204af9c 100644
--- a/tests/lint_compose.py
+++ b/tests/lint_compose.py
@@ -9,8 +9,13 @@
 
 logging.info("Checking `compose.yaml` files...")
 for filename in glob.glob(f"{repo_dir}/*_ws/docker/compose*.yaml"):
+    # Global ignore
+    if any(ws in filename for ws in os.getenv('IGNORED_WORKSPACES', '').split()):
+        continue
     logging.debug(f"Checking: '{filename[len(repo_dir)+1:]}'...")
     content = Path(filename).read_text()
     if "version:" in content:
         # Ref: https://docs.docker.com/compose/compose-file/04-version-and-name/#version-top-level-element-optional
         raise ValueError(f"`version` should not exist since it's obsolete: '{filename}'")
+    if "PLACEHOLDER" in content:
+        raise ValueError(f"`PLACEHOLDER` should not exist: '{filename}'")
diff --git a/tests/lint_dockerfile.py b/tests/lint_dockerfile.py
index e5853701..63d1c7f6 100644
--- a/tests/lint_dockerfile.py
+++ b/tests/lint_dockerfile.py
@@ -9,6 +9,9 @@
 
 logging.info("Checking `Dockerfile` files...")
 for filename in glob.glob(f"{repo_dir}/*_ws/docker/Dockerfile*"):
+    # Global ignore
+    if any(ws in filename for ws in os.getenv('IGNORED_WORKSPACES', '').split()):
+        continue
     logging.debug(f"Checking: '{filename[len(repo_dir)+1:]}'...")
     # Skip certain cases intentionally
     if "ros1_bridge_ws" in filename:
@@ -26,3 +29,5 @@
         raise ValueError(f"`RUN apt-get install` should not exist, use with `apt-get update` instead: '{filename}'")
     if "    apt-get install" in content:
         raise ValueError(f"`    apt-get install` should not exist, use with `apt-get update` in the same line instead: '{filename}'")
+    if "PLACEHOLDER" in content:
+        raise ValueError(f"`PLACEHOLDER` should not exist: '{filename}'")
diff --git a/tests/lint_filenames.py b/tests/lint_filenames.py
index a09b7f98..70fd76f4 100644
--- a/tests/lint_filenames.py
+++ b/tests/lint_filenames.py
@@ -19,6 +19,9 @@
 for filename in DEFAULT_FILES:
     logging.debug(f"Checking existence of: '{filename}'...")
     for workspace_path in glob.glob(f"{repo_dir}/*_ws"):
+        # Global ignore
+        if any(ws in workspace_path for ws in os.getenv('IGNORED_WORKSPACES', '').split()):
+            continue
         if not os.path.isfile(f"{workspace_path}/{filename}"):
             # Skip certain cases intentionally
             if filename in (".gitignore", "docker/.bashrc") and os.path.basename(workspace_path) == "ros1_bridge_ws":
@@ -37,5 +40,8 @@
 for filename in OBSOLETE_FILES:
     logging.debug(f"Checking non-existence of: '{filename}'...")
     for workspace_path in glob.glob(f"{repo_dir}/*_ws"):
+        # Global ignore
+        if any(ws in workspace_path for ws in os.getenv('IGNORED_WORKSPACES', '').split()):
+            continue
         if os.path.isfile(f"{workspace_path}/{filename}"):
             raise ValueError(f"'{filename}' exists in: '{workspace_path}'")
diff --git a/tests/lint_gitignore.py b/tests/lint_gitignore.py
index da2a26c6..0714ed83 100644
--- a/tests/lint_gitignore.py
+++ b/tests/lint_gitignore.py
@@ -9,9 +9,14 @@
 
 logging.info("Checking `.gitignore` files...")
 for filename in glob.glob(f"{repo_dir}/*_ws/.gitignore"):
+    # Global ignore
+    if any(ws in filename for ws in os.getenv('IGNORED_WORKSPACES', '').split()):
+        continue
     logging.debug(f"Checking: '{filename[len(repo_dir)+1:]}'...")
     content = Path(filename).read_text()
     if "gazebo" in content:
         raise ValueError(f"`gazebo` should not exist since it's obsolete: '{filename}'")
     if "docker/cache" in content:
         raise ValueError(f"`docker/cache` should not exist since it's obsolete: '{filename}'")
+    if "PLACEHOLDER" in content:
+        raise ValueError(f"`PLACEHOLDER` should not exist: '{filename}'")
diff --git a/tests/lint_readme.py b/tests/lint_readme.py
index 5a8277e3..3c4ecb07 100644
--- a/tests/lint_readme.py
+++ b/tests/lint_readme.py
@@ -9,7 +9,12 @@
 
 logging.info("Checking `README.md` files...")
 for filename in glob.glob(f"{repo_dir}/*_ws/README.md"):
+    # Global ignore
+    if any(ws in filename for ws in os.getenv('IGNORED_WORKSPACES', '').split()):
+        continue
     logging.debug(f"Checking: '{filename[len(repo_dir)+1:]}'...")
     content = Path(filename).read_text()
     if "ros2-agv-essentials" in content:
         raise ValueError(f"`ros2-agv-essentials` should not exist, use `ros2-essentials` instead: '{filename}'")
+    if "PLACEHOLDER" in content:
+        raise ValueError(f"`PLACEHOLDER` should not exist: '{filename}'")
diff --git a/tests/test_all.sh b/tests/test_all.sh
index 2b32c34f..3952858b 100755
--- a/tests/test_all.sh
+++ b/tests/test_all.sh
@@ -4,6 +4,7 @@
 # Reference: https://stackoverflow.com/q/59895
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd)"
 cd $SCRIPT_DIR
+# export IGNORED_WORKSPACES="temp_ws tmp_ws"
 # Loop through all Python files in the current directory
 for script in *.py; do
   echo "Running $script..."
diff --git a/vlp_ws/docker/.bashrc b/vlp_ws/docker/.bashrc
index d8352e3e..9e7767a4 100644
--- a/vlp_ws/docker/.bashrc
+++ b/vlp_ws/docker/.bashrc
@@ -1,3 +1,12 @@
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet
@@ -9,13 +18,14 @@ fi
 if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
     echo "rosdep update has not been executed yet. Running rosdep update..."
     rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
 fi
 # Optionally build the workspace if it has not been built yet
 if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace has not been built yet. Building workspace..."
     cd $ROS2_WS
-    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
-    rosdep install --from-paths src --ignore-src -y -r
     # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
     # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
     if [ $(arch) == "aarch64" ]; then
@@ -25,6 +35,18 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     fi
     echo "Workspace built."
 fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+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 485e0a3b..f9ed65c2 100644
--- a/vlp_ws/docker/Dockerfile
+++ b/vlp_ws/docker/Dockerfile
@@ -59,12 +59,39 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install custom tools
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
-    git-extras \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
 # Install ROS2 Gazebo packages for amd64
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -80,35 +107,48 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rviz2 \
     && rm -rf /var/lib/apt/lists/*
 
+USER $USERNAME
+
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+
+# 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/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
 # TODO: Add more commands here
-# For example, to install additional packages, uncomment the following lines and add the package names
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-#     apt-get update && apt-get install -y \
-#     $OTHER_PACKAGES \
-#     && rm -rf /var/lib/apt/lists/*
 
 # Install ROS2 and Gazebo simulation packages when using `amd64` platform
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
-        apt-get update && apt-get install -y \
+        sudo apt-get update && sudo apt-get install -y \
         ros-$ROS_DISTRO-turtlebot3-gazebo \
         ros-$ROS_DISTRO-joint-state-publisher-gui \
         ros-$ROS_DISTRO-rqt-robot-steering \
-        && rm -rf /var/lib/apt/lists/*; \
+        && sudo rm -rf /var/lib/apt/lists/*; \
     fi
 
 # Install ROS2 velodyne package
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
+    sudo apt-get update && sudo apt-get install -y \
     ros-$ROS_DISTRO-turtlebot3 \
     ros-$ROS_DISTRO-diagnostic-updater \
     ros-$ROS_DISTRO-velodyne \
-    && rm -rf /var/lib/apt/lists/*
+    && sudo rm -rf /var/lib/apt/lists/*
 
-USER $USERNAME
-# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
-RUN mkdir /home/$USERNAME/.gazebo
-# TODO: Run additional commands as non-root user here
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
diff --git a/vlp_ws/docker/compose.yaml b/vlp_ws/docker/compose.yaml
index 364ae7ae..c3da2547 100644
--- a/vlp_ws/docker/compose.yaml
+++ b/vlp_ws/docker/compose.yaml
@@ -1,5 +1,19 @@
 services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
   vlp-ws:
+    depends_on:
+      - volume-instantiation
     build:
       context: .
       dockerfile: Dockerfile
@@ -61,9 +75,69 @@ services:
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache