From 5008bf211c43f8f0117aab9f4d2c8a2832fa2b97 Mon Sep 17 00:00:00 2001
From: Johnson Sun <j3.soon777@gmail.com>
Date: Mon, 16 Sep 2024 03:51:11 +0800
Subject: [PATCH] feat(aloha_ws): Remove unnecessary vulkan config files and
 use `RUN cat` instead of `COPY` for simplicity

Reference: https://github.com/j3soon/vulkan-container-runtime/blob/7db2704e1b4187aa88b6ff7a50c6f9a0a8391e1c/Dockerfile
---
 aloha_ws/docker/.dockerignore                 |  1 -
 aloha_ws/docker/Dockerfile                    | 23 +++++++++----------
 .../docker/isaac-sim-4.1.0/10_nvidia.json     |  6 -----
 aloha_ws/docker/isaac-sim-4.1.0/50_mesa.json  |  6 -----
 .../docker/isaac-sim-4.1.0/nvidia_icd.json    |  7 ------
 .../docker/isaac-sim-4.1.0/nvidia_layers.json | 21 -----------------
 6 files changed, 11 insertions(+), 53 deletions(-)
 delete mode 100644 aloha_ws/docker/isaac-sim-4.1.0/10_nvidia.json
 delete mode 100644 aloha_ws/docker/isaac-sim-4.1.0/50_mesa.json
 delete mode 100644 aloha_ws/docker/isaac-sim-4.1.0/nvidia_icd.json
 delete mode 100644 aloha_ws/docker/isaac-sim-4.1.0/nvidia_layers.json

diff --git a/aloha_ws/docker/.dockerignore b/aloha_ws/docker/.dockerignore
index dc6ff050..2bd3d6a3 100644
--- a/aloha_ws/docker/.dockerignore
+++ b/aloha_ws/docker/.dockerignore
@@ -1,5 +1,4 @@
 *
 !.bashrc
-!isaac-sim-4.1.0
 !script
 !udev_rules
diff --git a/aloha_ws/docker/Dockerfile b/aloha_ws/docker/Dockerfile
index 70635377..88eafd83 100644
--- a/aloha_ws/docker/Dockerfile
+++ b/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 \
diff --git a/aloha_ws/docker/isaac-sim-4.1.0/10_nvidia.json b/aloha_ws/docker/isaac-sim-4.1.0/10_nvidia.json
deleted file mode 100644
index d09fc982..00000000
--- a/aloha_ws/docker/isaac-sim-4.1.0/10_nvidia.json
+++ /dev/null
@@ -1,6 +0,0 @@
-{
-    "file_format_version" : "1.0.0",
-        "ICD" : {
-            "library_path" : "libEGL_nvidia.so.0"
-    }
-}
diff --git a/aloha_ws/docker/isaac-sim-4.1.0/50_mesa.json b/aloha_ws/docker/isaac-sim-4.1.0/50_mesa.json
deleted file mode 100644
index b8b5ba92..00000000
--- a/aloha_ws/docker/isaac-sim-4.1.0/50_mesa.json
+++ /dev/null
@@ -1,6 +0,0 @@
-{
-    "file_format_version" : "1.0.0",
-    "ICD" : {
-        "library_path" : "libEGL_mesa.so.0"
-    }
-}
\ No newline at end of file
diff --git a/aloha_ws/docker/isaac-sim-4.1.0/nvidia_icd.json b/aloha_ws/docker/isaac-sim-4.1.0/nvidia_icd.json
deleted file mode 100644
index 225525b1..00000000
--- a/aloha_ws/docker/isaac-sim-4.1.0/nvidia_icd.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-    "file_format_version" : "1.0.0",
-    "ICD": {
-        "library_path": "libGLX_nvidia.so.0",
-        "api_version" : "1.3.194"
-    }
-}
diff --git a/aloha_ws/docker/isaac-sim-4.1.0/nvidia_layers.json b/aloha_ws/docker/isaac-sim-4.1.0/nvidia_layers.json
deleted file mode 100644
index 6fb1b6b3..00000000
--- a/aloha_ws/docker/isaac-sim-4.1.0/nvidia_layers.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-    "file_format_version" : "1.0.0",
-    "layer": {
-        "name": "VK_LAYER_NV_optimus",
-        "type": "INSTANCE",
-        "library_path": "libGLX_nvidia.so.0",
-        "api_version" : "1.3.194",
-        "implementation_version" : "1",
-        "description" : "NVIDIA Optimus layer",
-        "functions": {
-            "vkGetInstanceProcAddr": "vk_optimusGetInstanceProcAddr",
-            "vkGetDeviceProcAddr": "vk_optimusGetDeviceProcAddr"
-        },
-        "enable_environment": {
-            "__NV_PRIME_RENDER_OFFLOAD": "1"
-        },
-        "disable_environment": {
-            "DISABLE_LAYER_NV_OPTIMUS_1": ""
-        }
-    }
-}
\ No newline at end of file