Fix dataloader and dependencies

[thias15]

• make sure the training environments are consistent across different OS
• improve README to explain setup with GPU
• bugfix in dataloader

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[quentin-leboutet]

Looks good to me. I'm testing it on W10, Ubuntu 22 and Mac (intel + arm). I will approve this PR as soon as I'm sure everything works on each platform.

[quentin-leboutet]

Update: successfully tested on W10 and iOS (apple M1). Did not work out of the box on Ubuntu 22. I had to manually install a specific version the driver (nvidia-driver-495) along with the cuda-toolkit and cudnn packages of the main ubuntu repo:
sudo apt-get install cuda-toolkit && sudo apt-get install nvidia-driver-510 && sudo apt-get install nvidia-cudnn

[thias15]

I see. Any suggestions how it might work out of the box on Ubuntu? I tested it on a Linux cluster and it worked well there.

[quentin-leboutet]

Solved. Adding “export LD_LIBRARY_PATH=/path/to/anaconda3/envs/openbot/lib:$LD_LIBRARY_PATH” to the .bashrc to point to the correct versions of the libraries seems to do the trick. I'm validating this PR as not so many changes are required.