# Copyright 2026 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.

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 \
    PYOPENGL_PLATFORM=egl \
    EGL_PLATFORM=device \
    NVIDIA_DRIVER_CAPABILITIES=all \
    NVIDIA_VISIBLE_DEVICES=all \
    PATH=/lerobot/.venv/bin:$PATH \
    # cmake 4.x removed backward compat with cmake_minimum_required < 3.5.
    # This env var re-enables it so packages like egl-probe can compile.
    CMAKE_POLICY_VERSION_MINIMUM=3.5

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 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 \
    && 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

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 --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
RUN uv pip install --no-cache .

COPY --chown=user_lerobot:user_lerobot . .

CMD ["/bin/bash"]