# 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.

# Benchmark evaluation container — one image per benchmark, built via BENCHMARK arg.
#
# Supported values for BENCHMARK:
#   libero       — LIBERO suite (spatial / object / goal / 10 / 90)
#   libero_plus  — LIBERO-plus extended benchmark (requires robosuite, bddl, robomimic)
#   robomme      — RoboMME memory-augmented manipulation benchmark
#   robocasa     — RoboCasa kitchen composite-task benchmark
#
# Build:
#   docker build --build-arg BENCHMARK=libero -f docker/Dockerfile.benchmark \
#                -t lerobot-benchmark-libero .
#
# Run (interactive):
#   docker run --gpus all --rm -it lerobot-benchmark-libero
# Run eval:
#   docker run --gpus all --rm lerobot-benchmark-libero lerobot-eval --help

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
ARG BENCHMARK=libero

ENV DEBIAN_FRONTEND=noninteractive \
    MUJOCO_GL=egl \
    PYOPENGL_PLATFORM=egl \
    EGL_PLATFORM=device \
    NVIDIA_DRIVER_CAPABILITIES=all \
    NVIDIA_VISIBLE_DEVICES=all \
    PATH=/lerobot/.venv/bin:$PATH \
    CMAKE_POLICY_VERSION_MINIMUM=3.5 \
    CUDA_VISIBLE_DEVICES=0 \
    DEVICE=cuda \
    BENCHMARK=${BENCHMARK}

# ── Base system deps (shared across all benchmarks) ───────────────────────────
RUN apt-get update && apt-get install -y --no-install-recommends \
    software-properties-common build-essential git curl \
    libglib2.0-0 libgl1 libgl1-mesa-glx libgles2 \
    libegl1 libegl1-mesa libegl1-mesa-dev \
    libglew-dev libglfw3 libglfw3-dev libgl1-mesa-dri \
    libglvnd-dev libosmesa6 libosmesa6-dev \
    libvulkan1 mesa-vulkan-drivers \
    libsm6 libxext6 libxrender-dev \
    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/*

# ── NVIDIA EGL + Vulkan vendor ICDs (lets GLVND find the GPU driver) ──────────
RUN mkdir -p /usr/share/vulkan/icd.d /usr/share/glvnd/egl_vendor.d \
    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.2.155"}}\n' \
       > /usr/share/vulkan/icd.d/nvidia_icd.json \
    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_nvidia.so.0"}}\n' \
       > /usr/share/glvnd/egl_vendor.d/10_nvidia.json

# ── Benchmark-specific system deps ────────────────────────────────────────────
# libero_plus: the `wand` Python package requires ImageMagick headers.
RUN case "${BENCHMARK}" in \
    libero_plus) \
        apt-get update && apt-get install -y --no-install-recommends \
            libmagickwand-dev \
        && apt-get clean && rm -rf /var/lib/apt/lists/* ;; \
    esac

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 --seed --python python${PYTHON_VERSION}

# Copy only the dependency manifests first so Docker can cache this layer
# independently of source-code changes.
COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/

ARG UNBOUND_DEPS=false
RUN if [ "$UNBOUND_DEPS" = "true" ]; then \
    sed -i 's/,[[:space:]]*<[0-9\.]*//g' pyproject.toml; \
    echo "Dependencies unbound:" && cat pyproject.toml; \
    fi

# Install lerobot core + the selected benchmark extra.
# LIBERO-plus needs a dedicated install path because the upstream package is
# import-broken when installed via the extras chain alone.
RUN case "${BENCHMARK}" in \
    libero_plus) \
        PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH /lerobot/.venv/bin/python -m pip install --no-cache-dir \
            "hf-libero>=0.1.3,<0.2.0" \
            "hf-egl-probe>=1.0.1" \
            "transformers>=5.3.0,<6.0.0" \
            "scipy>=1.14.0,<2.0.0" \
            "bddl>=1.0.1,<2.0.0" \
            "future" \
            "easydict>=1.9" \
            "wand" \
            "scikit-image>=0.20.0" \
            "gym>=0.25.0,<0.27.0" \
        && git clone --depth 1 https://github.com/sylvestf/LIBERO-plus.git /tmp/LIBERO-plus \
        && PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH /lerobot/.venv/bin/python -m pip install --no-cache-dir --no-deps /tmp/LIBERO-plus \
        && /lerobot/.venv/bin/python -c "import pathlib, site; pathlib.Path(site.getsitepackages()[0], 'libero_plus_repo.pth').write_text('/tmp/LIBERO-plus\n')" \
        && /lerobot/.venv/bin/python -m pip install --no-cache-dir . \
        && /lerobot/.venv/bin/python -c "\
import os, yaml, importlib.util; \
root = os.path.dirname(importlib.util.find_spec('libero.libero').origin); \
d = dict(benchmark_root=root, bddl_files=os.path.join(root,'bddl_files'), \
init_states=os.path.join(root,'init_files'), datasets=os.path.join(root,'..','datasets'), \
assets=os.path.join(root,'assets')); \
cfg_dir = os.path.expanduser('~/.libero'); os.makedirs(cfg_dir, exist_ok=True); \
yaml.dump(d, open(os.path.join(cfg_dir,'config.yaml'),'w')); print('libero config created')" \
        && /lerobot/.venv/bin/python -c "from libero.libero import benchmark, get_libero_path; print('libero OK')" ;; \
    *) \
        uv pip install --no-cache ".[${BENCHMARK}]" ;; \
    esac

# LIBERO-plus requires ~6 GB of scene/texture/object assets from HuggingFace.
# Download at build time so containers don't need network access at runtime.
USER root
COPY <<'FETCH_ASSETS' /tmp/fetch_assets.py
from huggingface_hub import hf_hub_download
hf_hub_download("Sylvest/LIBERO-plus", "assets.zip",
                repo_type="dataset", local_dir="/tmp/libero-plus-assets")
FETCH_ASSETS
COPY <<'VERIFY_ASSETS' /tmp/verify_assets.py
from pathlib import Path
from libero.libero import get_libero_path
d = Path(get_libero_path("benchmark_root")) / "assets" / "scenes"
assert d.is_dir(), f"assets missing at {d}"
print("assets OK:", d)
VERIFY_ASSETS
RUN if [ "${BENCHMARK}" = "libero_plus" ]; then \
    apt-get update && apt-get install -y --no-install-recommends unzip \
    && apt-get clean && rm -rf /var/lib/apt/lists/* \
    && /lerobot/.venv/bin/python /tmp/fetch_assets.py \
    && unzip -q /tmp/libero-plus-assets/assets.zip -d /tmp/libero-plus-unzipped \
    && ASSETS_DIR=$(/lerobot/.venv/bin/python -c "from libero.libero import get_libero_path; print(get_libero_path('benchmark_root'))") \
    && SRC=$(find /tmp/libero-plus-unzipped -type d -name assets | head -1) \
    && mv "$SRC" "$ASSETS_DIR/assets" \
    && chown -R user_lerobot:user_lerobot "$ASSETS_DIR/assets" \
    && rm -rf /tmp/libero-plus-assets /tmp/libero-plus-unzipped /tmp/fetch_assets.py \
    && /lerobot/.venv/bin/python /tmp/verify_assets.py \
    && rm /tmp/verify_assets.py; \
    fi
USER user_lerobot

# Triton requires its ptxas binary to be executable (NVIDIA-specific).
RUN if [ -f /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas ]; then \
    chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas; \
    fi

# Verify EGL probe is importable (runtime GPU check requires NVIDIA drivers at container start).
RUN /lerobot/.venv/bin/python -c "import egl_probe; print('egl_probe OK')" \
    2>/dev/null || echo 'NOTE: egl_probe not installed (non-libero build), skipping'

# Copy full source (tests, examples, configs, etc.)
COPY --chown=user_lerobot:user_lerobot . .

CMD ["/bin/bash"]