content: FROM nvidia/cuda:12.0.0-devel-ubuntu22.04 
  
  RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
      apt-get install -y \
      git python3-dev python3-pip \
      libglib2.0-0 
  
  # Dependencies for glvnd and X11.
  RUN apt-get update \
    && apt-get install -y -qq --no-install-recommends \
      libglvnd0 \
      libgl1 \
      libglx0 \
      libegl1 \
      libxext6 \
      libx11-6 \
    && rm -rf /var/lib/apt/lists/*
  
    # Env vars for the nvidia-container-runtime.
  ENV NVIDIA_VISIBLE_DEVICES all
  ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
  
  # Dependency for EGL
  RUN apt update && apt install -y cmake build-essential libgl1-mesa-dev freeglut3-dev libglfw3-dev libgles2-mesa-dev
  
  RUN pip install torch==2.2.0 \
  torchvision \
  torchaudio \
  --index-url https://download.pytorch.org/whl/cu121
  
  RUN pip install torch_geometric 
  
  RUN pip install pyg_lib \
  torch_scatter \
  torch_sparse torch_cluster \
  torch_spline_conv \
  -f https://data.pyg.org/whl/torch-2.2.0+cu121.html
  
  RUN pip install mmcv==1.6.0 \
  matplotlib \
  argparse \
  lpips \
  plyfile \
  imageio-ffmpeg \ 
  h5py \
  imageio \
  natsort \ 
  numpy \ 
  wandb \
  open3d \
  seaborn \
  trimesh  \
  spatialmath-python \
  pybind11 \
  gym \
  moviepy \
  shapely