refactor: Use modern Python terrain engine (no C++/CUDA)

- Remove legacy C++/CUDA terrain compilation
- Uses HuggingFace Kernels + PyTorch Geometric + GPyTorch
- Much simpler and faster Docker build
- Modern terrain engine in tools/modern_terrain_engine.py

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: Claude <noreply@anthropic.com>

Dockerfile

@@ -1,4 +1,5 @@
-# Multi-stage build: Builder stage for compilation + Runtime stage for execution
+# Infinigen Agents - Modern Python-based Terrain Engine
+# No legacy C++/CUDA compilation needed - uses HuggingFace Kernels + PyTorch Geometric
 FROM python:3.11-slim AS builder
 
 # Python environment setup for UV
@@ -6,68 +7,21 @@ ENV UV_COMPILE_BYTECODE=1
 ENV UV_LINK_MODE=copy
 ENV UV_CACHE_DIR=/tmp/.uv-cache
 
-# System dependencies installation for build stage (Debian Trixie compatible)
+# System dependencies (minimal - no CUDA toolkit needed)
 RUN apt-get update && \
     apt-get install -y --no-install-recommends \
         curl \
         ca-certificates \
-        tzdata \
-        build-essential \
         git \
-        cmake \
-        ninja-build \
-        libgtk-3-dev \
-        libpng-dev \
-        libjpeg-dev \
-        libwebp-dev \
-        libtiff-dev \
-        libopenexr-dev \
+        build-essential \
         libopenblas-dev \
-        libx11-dev \
-        libavutil-dev \
-        libavcodec-dev \
-        libavformat-dev \
-        libswscale-dev \
-        libswresample-dev \
-        libssl-dev \
-        libva-dev \
-        libgstreamer1.0-dev \
-        libgstreamer-plugins-base1.0-dev \
-        opencl-headers \
-        ocl-icd-opencl-dev \
-        xvfb \
-        xauth \
-        g++ \
-        gcc \
-        libomp-dev \
-        libgomp1 \
-        coreutils \
-        findutils \
-        bash \
-        procps \
-        libc6-dev \
-        pkg-config \
-        make \
-        dos2unix \
-        wget \
     && rm -rf /var/lib/apt/lists/*
 
-# Install CUDA toolkit for terrain compilation
-RUN wget https://developer.download.nvidia.com/compute/cuda/12.4.0/local_installers/cuda_12.4.0_550.54.14_linux.run -O cuda_installer.run && \
-    chmod +x cuda_installer.run && \
-    ./cuda_installer.run --no-opengl-libs --no-man-page --no-opengl-libs --override --silent --toolkit && \
-    rm cuda_installer.run && \
-    echo 'export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}' >> /etc/profile && \
-    echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}' >> /etc/profile
-
-# Create user for build process
-RUN useradd -ms /bin/bash user
-
 # Install uv
 RUN curl -LsSf https://astral.sh/uv/install.sh | sh
 ENV PATH="/root/.local/bin:/usr/local/bin:/usr/bin:/bin:$PATH"
 
-# Clone infinigen from GitHub first
+# Clone infinigen from GitHub
 RUN git clone https://github.com/bjoernbethge/infinigen.git /app
 
 # Set up working directory
@@ -78,63 +32,30 @@ RUN uv venv /app/.venv
 ENV VIRTUAL_ENV=/app/.venv
 ENV PATH="/app/.venv/bin:$PATH"
 
-# Install Python dependencies
-RUN sh -c "ulimit -n 4096 && uv sync --frozen --extra terrain --extra vis"
-
-# Compile terrain libraries with CUDA support
-RUN chmod +x scripts/install/compile_terrain.sh && \
-    dos2unix scripts/install/compile_terrain.sh && \
-    dos2unix infinigen/OcMesher/install.sh && \
-    bash -c "set -e; cd /app && bash scripts/install/compile_terrain.sh" && \
-    echo "Terrain compilation completed successfully with CUDA support"
-
-# Compile Cython terrain libraries
-RUN bash -c "source .venv/bin/activate && python setup.py build_ext --inplace" && \
-    echo "Cython terrain compilation completed successfully"
-
-# Install additional runtime dependencies
-RUN bash -c "source .venv/bin/activate && pip install PyOpenGL-accelerate"
+# Install Python dependencies (modern terrain engine uses kernels, torch_geometric, gpytorch)
+RUN sh -c "ulimit -n 4096 && uv sync --frozen"
 
-# Install Gradio and HuggingFace dependencies
+# Install Gradio and HuggingFace dependencies for Space
 RUN sh -c "ulimit -n 4096 && uv add gradio>=5.0.0 pydantic-ai[huggingface]>=1.0.8"
 
-# Set ownership
-RUN chown -R user:user /app/.venv && \
-    chown -R user:user /root/.local
+# Create user
+RUN useradd -ms /bin/bash user && \
+    chown -R user:user /app
 
 # ============================================
-# Runtime stage - minimal image for execution
+# Runtime stage - minimal image
 # ============================================
 FROM python:3.11-slim AS runtime
 
-# Runtime environment setup
+# Runtime environment
 ENV UV_COMPILE_BYTECODE=1
 ENV UV_CACHE_DIR=/tmp/.uv-cache
-ENV DISPLAY=:99
-ENV BLENDER_HEADLESS=1
 
-# Minimal runtime dependencies (Debian Trixie compatible)
+# Minimal runtime dependencies
 RUN apt-get update && \
     apt-get install -y --no-install-recommends \
-        curl \
-        ca-certificates \
-        tzdata \
-        libx11-6 \
-        libglib2.0-0 \
-        libgtk-3-0 \
-        libgomp1 \
-        libomp5 \
         libopenblas0 \
-        libpng16-16 \
-        libtiff6 \
-        libwebp7 \
-        libssl3 \
-        libgstreamer1.0-0 \
-        libgstreamer-plugins-base1.0-0 \
-        xvfb \
-        xauth \
-        bash \
-        procps \
+        libgomp1 \
     && rm -rf /var/lib/apt/lists/*
 
 # Create user (HuggingFace Spaces standard)
@@ -149,18 +70,13 @@ ENV PATH="/app/.venv/bin:/root/.local/bin:/usr/local/bin:/usr/bin:/bin:$PATH"
 ENV VIRTUAL_ENV=/app/.venv
 ENV HOME=/home/user
 
-# Set up working directory
 WORKDIR /app
 
-# Create startup script for Gradio
-RUN echo '#!/bin/bash\nXvfb :99 -screen 0 1024x768x24 > /dev/null 2>&1 &\nexport DISPLAY=:99\ncd /app\nexec python app.py' > /usr/local/bin/start-gradio.sh && \
-    chmod +x /usr/local/bin/start-gradio.sh
-
 # Copy Gradio app
 COPY app.py /app/app.py
 
-# Create logs directory
-RUN mkdir -p /app/logs && chown -R user:user /app
+# Set ownership
+RUN chown -R user:user /app
 
 # Switch to user
 USER user
@@ -168,5 +84,5 @@ USER user
 # Expose Gradio port
 EXPOSE 7860
 
-# Default command
-CMD ["/usr/local/bin/start-gradio.sh"]
+# Start Gradio app
+CMD ["python", "app.py"]