There are several ways to install the Holoscan SDK, we could see SDK Installation - NVIDIA Docs for the different ways.
Only if you want to build the SDK from source, you could replace the base image in the Dockerfile from FROM nvcr.io/nvidia/tensorrt:22.03-py3 to FROM nvcr.io/nvidia/pytorch:22.03-py3. However, please see section “Need more control over the SDK?” and “Attention” on when building from source is appropriate. If you want to build from source, you could reference this Dockerfile modified for v0.6, then please see GitHub instructions after changing the Dockerfile.
If not building the SDK from source, you could run the PyTorch container and install Holoscan SDK inside of it via the deb package or pip install, described in here. Please see the Overview on the NGC page for the docker run command. Note that the option --rm specifies Automatically remove the container when it exits in docker run | Docker Documentation.