# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Isolated benchmark image for LIBERO integration tests.
# Installs only lerobot[libero] so its dep tree (hf-libero, dm-control, mujoco)
# cannot conflict with other benchmarks.
#
# Build:  docker build -f docker/Dockerfile.benchmark.libero -t lerobot-benchmark-libero .
# Run:    docker run --gpus all --rm lerobot-benchmark-libero lerobot-eval ...

ARG CUDA_VERSION=12.4.1
ARG OS_VERSION=22.04
FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}

ARG PYTHON_VERSION=3.12

ENV DEBIAN_FRONTEND=noninteractive \
    MUJOCO_GL=egl \
    PATH=/lerobot/.venv/bin:$PATH \
    CUDA_VISIBLE_DEVICES=0 \
    DEVICE=cuda

# System deps — same set as Dockerfile.internal
RUN apt-get update && apt-get install -y --no-install-recommends \
    software-properties-common build-essential git curl \
    libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
    libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
    cmake pkg-config ninja-build \
    && add-apt-repository -y ppa:deadsnakes/ppa \
    && apt-get update \
    && apt-get install -y --no-install-recommends \
       python${PYTHON_VERSION} \
       python${PYTHON_VERSION}-venv \
       python${PYTHON_VERSION}-dev \
    && curl -LsSf https://astral.sh/uv/install.sh | sh \
    && mv /root/.local/bin/uv /usr/local/bin/uv \
    && useradd --create-home --shell /bin/bash user_lerobot \
    && usermod -aG sudo user_lerobot \
    && apt-get clean && rm -rf /var/lib/apt/lists/*

WORKDIR /lerobot
RUN chown -R user_lerobot:user_lerobot /lerobot
USER user_lerobot

ENV HOME=/home/user_lerobot \
    HF_HOME=/home/user_lerobot/.cache/huggingface \
    HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
    TORCH_HOME=/home/user_lerobot/.cache/torch \
    TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton

RUN uv venv --python python${PYTHON_VERSION}

# Install only lerobot[libero] — completely isolated from metaworld's dep tree
COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/

RUN uv sync --locked --extra libero --extra smolvla --no-cache

# Pre-download lerobot/libero-assets from HF Hub so nothing is fetched at
# runtime (which times out on CI). Point the libero config at the cached path.
# libero/libero/__init__.py calls input() when ~/.libero/config.yaml is missing,
# so we write the config before any libero import can happen.
RUN LIBERO_DIR=$(python${PYTHON_VERSION} -c \
      "import importlib.util, os; s=importlib.util.find_spec('libero'); \
       print(os.path.join(os.path.dirname(s.origin), 'libero'))") && \
    mkdir -p /home/user_lerobot/.libero && \
    python${PYTHON_VERSION} -c "\
from huggingface_hub import snapshot_download; \
snapshot_download(repo_id='lerobot/libero-assets', repo_type='dataset', \
                  local_dir='/home/user_lerobot/.libero/assets')" && \
    printf "assets: /home/user_lerobot/.libero/assets\nbddl_files: ${LIBERO_DIR}/bddl_files\ndatasets: ${LIBERO_DIR}/../datasets\ninit_states: ${LIBERO_DIR}/init_files\n" \
    > /home/user_lerobot/.libero/config.yaml

RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas

COPY --chown=user_lerobot:user_lerobot . .

CMD ["/bin/bash"]