add in reverted Dockerfile stuff

Dockerfile

@@ -1,30 +1,19 @@
-# Use the official Ubuntu 20.04 image as the base
-# FROM ubuntu:20.04
-FROM nvidia/cuda:11.8.0-cudnn8-runtime-ubuntu20.04
+FROM nvidia/cuda:12.4.1-base-ubuntu22.04
 
-
-# Set environment variables to avoid interactive prompts during installation
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Install necessary dependencies
-RUN apt-get update && \
-    apt-get install -y \
+# Set up the environment.
+ENV CODING_ROOT=/opt/baeisner
+WORKDIR $CODING_ROOT
+
+# Install the dependencies.
+RUN apt-get update && apt-get install -y \
+    # Dependencies required for python.
+    build-essential \
     curl \
     ffmpeg \
     git \
-    build-essential \
-    libssl-dev \
-    zlib1g-dev \
     libbz2-dev \
-    git \
-    libreadline-dev \
-    libsqlite3-dev \
-    wget \
-    llvm \
-    libncurses5-dev \
-    libncursesw5-dev \
-    xz-utils \
-    tk-dev \
     libffi-dev \
     liblzma-dev \
     libncursesw5-dev \
@@ -56,85 +45,15 @@ RUN apt-get update && \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
-# CoppeliaSim Dependencies
-RUN apt-get update && \
-    apt-get install '^libxcb.*-dev' libx11-xcb-dev libglu1-mesa-dev libxrender-dev libxi-dev libxkbcommon-dev libxkbcommon-x11-dev -y && \
-    rm -rf /var/lib/apt/lists/*
-
-# Install pyenv
-ENV CODING_ROOT="/opt/baeisner"
-
-WORKDIR $CODING_ROOT
+# Install pyenv.
 RUN git clone --depth=1 https://github.com/pyenv/pyenv.git .pyenv
-
-ENV PYENV_ROOT="$CODING_ROOT/.pyenv"
+ENV PYENV_ROOT=$CODING_ROOT/.pyenv
 ENV PATH="$PYENV_ROOT/shims:$PYENV_ROOT/bin:$PATH"
 
-# Install Python 3.9 using pyenv
+# Install python.
 RUN pyenv install 3.9.12
 RUN pyenv global 3.9.12
 
-###########################
-# OLD STUFF
-###########################
-
-# Install PyTorch with CUDA support (make sure to adjust this depending on your CUDA version)
-# RUN pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 --extra-index-url https://download.pytorch.org/whl/cu116
-
-# Install pytorch geometric.
-# RUN pip install torch-scatter==2.0.9 torch-sparse==0.6.15 torch-cluster==1.6.0 torch-spline-conv==1.2.1 pyg_lib==0.1.0 -f https://data.pyg.org/whl/torch-1.13.0+cu116.html
-
-# Install pytorch3d
-# RUN pip install fvcore iopath && \
-#     pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu116_pyt1130/download.html
-
-###########################
-# END OLD STUFF
-###########################
-
-# Download CoppeliaSim
-RUN mkdir $CODING_ROOT/.coppelia
-WORKDIR $CODING_ROOT/.coppelia
-RUN curl -L https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz -o CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz && \
-    tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz && \
-    rm CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
-
-# modify environment variables
-ENV COPPELIASIM_ROOT="$CODING_ROOT/.coppelia/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04"
-ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$COPPELIASIM_ROOT"
-ENV QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT"
-
-
-# TODO: put this above the code copying.
-# Install VirtualGL
-RUN wget --no-check-certificate https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_amd64.deb \
-    && dpkg -i virtualgl_*.deb \
-    && rm virtualgl_*.deb
-
-# Configure VirtualGL
-RUN /opt/VirtualGL/bin/vglserver_config +s +f -t +egl
-
-# Setup environment variables for NVIDIA and VirtualGL
-ENV NVIDIA_VISIBLE_DEVICES all
-# ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV NVIDIA_DRIVER_CAPABILITIES all
-
-###########################
-# Special Torch Install
-###########################
-
-RUN pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 --index-url https://download.pytorch.org/whl/cu118
-RUN pip install pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-2.0.0+cu118.html
-RUN pip install fvcore iopath && \
-    pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt201/download.html
-
-
-# Install CFFI
-RUN pip install cffi==1.14.2 wheel
-
-# Install PyRep
-RUN pip install --no-build-isolation "pyrep @ git+https://github.com/stepjam/PyRep.git"
-
 # Make the working directory the home directory
 RUN mkdir $CODING_ROOT/code
 WORKDIR $CODING_ROOT/code
@@ -169,17 +88,16 @@ ENV NVIDIA_DRIVER_CAPABILITIES all
 # Copy in the requirements.
 COPY requirements-gpu.txt .
 
-# Changes to the configs and scripts will not require a rebuild
-COPY ./configs $CODING_ROOT/code/configs
-COPY ./scripts $CODING_ROOT/code/scripts
+RUN pip install --upgrade --no-cache-dir pip && pip install --no-cache-dir wheel==0.40.0
 
-RUN git config --global --add safe.directory /root/code
+# Install the requirements.
+RUN pip install --no-cache-dir -r requirements-gpu.txt
 
-# Make a data directory.
-RUN mkdir $CODING_ROOT/data
+# Copy in the third-party directory.
+COPY third_party third_party
 
-# Make a logs directory.
-RUN mkdir $CODING_ROOT/logs
+# Install the third-party libraries.
+RUN pip install --no-cache-dir -e third_party/ndf_robot
 
 # Install pyrep.
 RUN pip install --no-cache-dir --no-build-isolation "pyrep @ git+https://github.com/stepjam/PyRep.git"