build: clean up build #971
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Use the more standard requirements.txt for runtime requirements and requirements-dev.txt for development-only requirements. This will make it so that the requirements are in the project, not partially in the Dockerfile.
Also, remove format.py and all references to yapf, as they have not been used in a while. Pre-commit formatting hooks are used now instead.
Note: A lot of files were changed due to pre-commit running on them, since I touched the related lines to remove the yapf references. Those changes are confined to the second commit. This is passing CI.