feat(aloha_ws): Remove unnecessary vulkan config files and use `RUN c…

…at` instead of `COPY` for simplicity

Reference: https://github.com/j3soon/vulkan-container-runtime/blob/7db2704e1b4187aa88b6ff7a50c6f9a0a8391e1c/Dockerfile

aloha_ws/docker/.dockerignore

@@ -1,5 +1,4 @@
 *
 !.bashrc
-!isaac-sim-4.1.0
 !script
 !udev_rules

aloha_ws/docker/Dockerfile

@@ -65,18 +65,12 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 #   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 \
     x11-apps x11-utils \
     mesa-utils \
-    vulkan-tools \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install libGL
-# 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 \
-    libgl1 \
+    libgl1 vulkan-tools \
     && rm -rf /var/lib/apt/lists/*
 
 # Setup the required capabilities for the container runtime
@@ -86,10 +80,15 @@ ENV NVIDIA_DRIVER_CAPABILITIES=all
 
 # Install Vulkan config files
 # Ref: https://gitlab.com/nvidia/container-images/vulkan
-COPY isaac-sim-4.1.0/10_nvidia.json     /usr/share/glvnd/egl_vendor.d/10_nvidia.json
-COPY isaac-sim-4.1.0/50_mesa.json       /usr/share/glvnd/egl_vendor.d/50_mesa.json
-COPY isaac-sim-4.1.0/nvidia_icd.json    /etc/vulkan/icd.d/nvidia_icd.json
-COPY isaac-sim-4.1.0/nvidia_layers.json /etc/vulkan/implicit_layer.d/nvidia_layers.json
+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 \