# 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 RoboTwin 2.0 integration tests.
# Full installation: SAPIEN, mplib, CuRobo, pytorch3d + simulation assets.
#
# RoboTwin install guide: https://robotwin-platform.github.io/doc/usage/robotwin-install.html
# Assets from: https://huggingface.co/datasets/TianxingChen/RoboTwin2.0
#   - embodiments.zip  ~220 MB
#   - objects.zip      ~3.74 GB
#   (background_texture.zip ~11 GB is skipped — not required for a smoke eval)
#
# Build: docker build -f docker/Dockerfile.benchmark.robotwin -t lerobot-benchmark-robotwin .
# Run:   docker run --gpus all --rm lerobot-benchmark-robotwin \
#            lerobot-eval --env.type=robotwin --env.task=beat_block_hammer ...

# RoboTwin requires CUDA devel image for CuRobo compilation (nvcc needed).
# Python 3.12 required by lerobot (type alias syntax). open3d 0.19.0 has cp312 wheels.
ARG CUDA_VERSION=12.1.1
ARG OS_VERSION=22.04
FROM nvidia/cuda:${CUDA_VERSION}-devel-ubuntu${OS_VERSION}

ARG PYTHON_VERSION=3.12

ENV DEBIAN_FRONTEND=noninteractive \
    PATH=/lerobot/.venv/bin:$PATH \
    CUDA_VISIBLE_DEVICES=0 \
    DEVICE=cuda \
    # NVIDIA Container Toolkit: expose all driver capabilities (includes Vulkan)
    NVIDIA_DRIVER_CAPABILITIES=all \
    # SAPIEN uses Vulkan; point at the NVIDIA ICD we create below
    VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json \
    # RoboTwin task modules live in <repo>/envs/; add to PYTHONPATH after clone.
    ROBOTWIN_ROOT=/opt/robotwin

# System deps — extended with cmake/ninja for CuRobo and pytorch3d compilation.
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 \
    libvulkan1 vulkan-tools \
    && 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/0.8.0/install.sh | sh \
    && mv /root/.local/bin/uv /usr/local/bin/uv \
    && mkdir -p /usr/share/vulkan/icd.d \
    && echo '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.3.0"}}' \
       > /usr/share/vulkan/icd.d/nvidia_icd.json \
    && 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}

# ── 1. Install base lerobot ────────────────────────────────────────────────
COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/

# Install lerobot base only (no benchmark extras — RoboTwin is source-only).
# Install lerobot with smolvla extra (for transformers dep needed by SmolVLA policy)
RUN uv pip install --no-cache -e ".[smolvla]"

# ── 2. Install RoboTwin 2.0 simulator stack ────────────────────────────────
# Clone at a pinned commit for reproducibility.
USER root
RUN git clone --depth=1 https://github.com/RoboTwin-Platform/RoboTwin.git ${ROBOTWIN_ROOT} \
    && chown -R user_lerobot:user_lerobot ${ROBOTWIN_ROOT}
USER user_lerobot

# Install RoboTwin-specific packages on top of the lerobot venv.
# We intentionally skip: torch/torchvision (already in lerobot), gymnasium
# (lerobot uses 1.x; RoboTwin's API is wrapped so 0.29 is not needed), scipy
# (version-pinned by lerobot), huggingface_hub (pinned by lerobot), wandb,
# azure, openai, pyglet (UI only).
# Install RoboTwin-specific packages. Use --python to pin resolution to the
# venv's Python 3.10 (uv sync --locked may have changed the default target).
RUN uv pip install --no-cache --python .venv/bin/python \
    "sapien==3.0.0b1" \
    "mplib==0.2.1" \
    "transforms3d==0.4.2" \
    "trimesh==4.4.3" \
    "open3d==0.19.0" \
    "imageio==2.34.2" \
    "termcolor" \
    "zarr" \
    "pydantic" \
    "h5py"

# pytorch3d — must be built from source (no universal wheel available).
# This is the slowest step (~10 min); cached in subsequent builds.
RUN uv pip install --no-cache --no-build-isolation --python .venv/bin/python \
    "git+https://github.com/facebookresearch/pytorch3d.git@stable"

# CuRobo — NVIDIA motion generation library; requires nvcc (devel image).
# TORCH_CUDA_ARCH_LIST must be set or the build fails with empty arch list.
RUN cd ${ROBOTWIN_ROOT}/envs \
    && git clone --depth=1 https://github.com/NVlabs/curobo.git \
    && cd curobo \
    && TORCH_CUDA_ARCH_LIST="7.0;7.5;8.0;8.6;8.9;9.0" \
       uv pip install -e . --no-build-isolation --no-cache

# ── 3. Apply upstream patches (mirrors script/_install.sh) ─────────────────
# patch 1: mplib — remove `or collide` from planner.py line 807.
RUN python - <<'EOF'
import re, pathlib, site
for d in site.getsitepackages():
    p = pathlib.Path(d) / "mplib" / "planner.py"
    if p.exists():
        src = p.read_text()
        patched = re.sub(r"\bor collide\b", "", src, count=1)
        p.write_text(patched)
        print(f"mplib patch applied: {p}")
        break
EOF

# patch 2: sapien URDF loader — add UTF-8 encoding + fix .srdf extension.
RUN python - <<'EOF'
import pathlib, site
for d in site.getsitepackages():
    p = pathlib.Path(d) / "sapien" / "wrapper" / "urdf_loader.py"
    if p.exists():
        src = p.read_text()
        # add encoding='utf-8' to open() calls that lack it
        patched = src.replace("open(", "open(").replace(
            'with open(srdf_path) as f:', 'with open(srdf_path, encoding="utf-8") as f:'
        ).replace('"srdf"', '".srdf"')
        p.write_text(patched)
        print(f"sapien patch applied: {p}")
        break
EOF

# ── 4. Download simulation assets from HuggingFace ─────────────────────────
# embodiments.zip (~220 MB) + objects.zip (~3.74 GB).
# background_texture.zip (~11 GB) is skipped — not required for a smoke eval.
# Set HF_TOKEN (passed as --build-arg or via --secret) for authenticated access.
ARG HF_TOKEN=""
RUN python - <<'EOF'
import os, pathlib, zipfile
from huggingface_hub import hf_hub_download

token = os.environ.get("HF_TOKEN") or None
assets_dir = pathlib.Path(os.environ["ROBOTWIN_ROOT"]) / "assets"
assets_dir.mkdir(parents=True, exist_ok=True)

for fname in ("embodiments.zip", "objects.zip"):
    print(f"Downloading {fname} ...")
    local = hf_hub_download(
        repo_id="TianxingChen/RoboTwin2.0",
        repo_type="dataset",
        filename=fname,
        token=token,
        local_dir=str(assets_dir),
    )
    print(f"Extracting {fname} ...")
    with zipfile.ZipFile(local, "r") as z:
        z.extractall(str(assets_dir))
    pathlib.Path(local).unlink()  # remove zip after extraction
    print(f"{fname} done.")
EOF

# Update embodiment config paths to reflect the installation directory.
RUN cd ${ROBOTWIN_ROOT} \
    && python script/update_embodiment_config_path.py

# ── 5. Finalise ────────────────────────────────────────────────────────────
# Expose RoboTwin task modules on PYTHONPATH so `import envs.<task>` works.
ENV PYTHONPATH="${ROBOTWIN_ROOT}:${PYTHONPATH}"

COPY --chown=user_lerobot:user_lerobot . .

RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas 2>/dev/null || true

CMD ["/bin/bash"]