Update docker files to use official torch 2.0.0
# What does this PR do?

(basically just revert to what we have before #22135, except the torch and cuda version numbers) 

We used
```python
--index-url https://download.pytorch.org/whl/test/cu117
```
to run CI before `torch 2.0.0` release. Now since the official release it out, let's use
```python
--index-url https://download.pytorch.org/whl/cu117
```

_The documentation is not available anymore as the PR was closed or merged._