# 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-plus integration tests.
# Installs only lerobot[libero_plus] (LIBERO-plus from GitHub, dm-control, mujoco).
#
# Build:  docker build -f docker/Dockerfile.benchmark.libero_plus -t lerobot-benchmark-libero-plus .
# Run:    docker run --gpus all --rm lerobot-benchmark-libero-plus 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 plus LIBERO-plus extras
RUN apt-get update && apt-get install -y --no-install-recommends \
    software-properties-common build-essential git curl unzip \
    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 \
    libexpat1 libfontconfig1-dev libmagickwand-dev \
    && 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 \
    && 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_plus] — isolated from hf-libero and metaworld dep trees
COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/

# Use uv pip install (not uv sync) — uv sync resolves all extras across all
# Python versions, hitting cross-extra numpy conflicts. pip-style install
# only resolves the requested extras for the current platform.
# Install lerobot with libero_plus and smolvla extras.
# The libero git dep sometimes gets silently skipped by uv pip install
# when embedded in self-referential extras, so install it explicitly too.
# Step 1: install lerobot with extras (libero git dep may be silently skipped)
RUN uv pip install --no-cache -e ".[libero_plus,smolvla]"
# Step 2: LIBERO-plus has a nested libero/libero/ structure that neither uv pip
# install from git nor editable installs handle correctly (metadata-only install).
# Clone and add to PYTHONPATH as the only reliable way to make it importable.
RUN git clone --depth=1 https://github.com/sylvestf/LIBERO-plus.git /home/user_lerobot/libero-plus \
    && mkdir -p /home/user_lerobot/.libero \
    && echo 'assets: /tmp' > /home/user_lerobot/.libero/config.yaml
# Install LIBERO-plus deps (robosuite, bddl, easydict, mujoco, etc.) from setup.py.
# Pin robosuite==1.4.1 (fork uses single_arm_env removed in v1.5+), then install
# the remaining deps from the clone. --no-build-isolation avoids rebuilding lerobot.
RUN uv pip install --no-cache "robosuite==1.4.1" bddl easydict mujoco matplotlib wand scikit-image gym \
    && cd /home/user_lerobot/libero-plus && uv pip install --no-cache --no-deps -e "."
ENV PYTHONPATH="/home/user_lerobot/libero-plus:${PYTHONPATH}"

# Pre-download libero assets so nothing is fetched at runtime (CI timeout risk).
# libero/libero/__init__.py prompts with input() when ~/.libero/config.yaml is
# missing; write the config first so any import is non-interactive.
# LIBERO-plus installs with a nested package structure, so find_spec('libero')
# may return a namespace package without .origin. Use glob to locate bddl_files.
ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
# LIBERO-plus's clone already ships both bddl_files/ and init_files/ with base
# `.pruned_init` files for all 5 suites. Its Benchmark.get_task_init_states()
# strips perturbation suffixes (_table_N, _tb_N, _view_, _language_, _light_)
# back to the base filename, so no extra init files are needed.
#
# Assets are different: LIBERO-plus's bddl_base_domain.py resolves scene XMLs
# via `os.path.join(DIR_PATH, "../assets")` (package-relative, ignoring
# config.yaml), and its 2402 perturbation tasks reference table/view/light
# textures that ship only in Sylvest/LIBERO-plus's `assets.zip` (6.4 GB).
# Without this extract, every perturbation task fails on a FileNotFoundError
# for scenes/tabletop_table_<texture>.xml.
RUN python${PYTHON_VERSION} -c "\
from huggingface_hub import hf_hub_download; \
hf_hub_download(repo_id='Sylvest/LIBERO-plus', repo_type='dataset', \
                filename='assets.zip', local_dir='/tmp/libero-plus-dl')" && \
    unzip -q /tmp/libero-plus-dl/assets.zip -d ${LIBERO_PLUS_ROOT}/ && \
    rm -rf /tmp/libero-plus-dl
RUN mkdir -p /home/user_lerobot/.libero && \
    printf "assets: ${LIBERO_PLUS_ROOT}/assets\nbddl_files: ${LIBERO_PLUS_ROOT}/bddl_files\ndatasets: ${LIBERO_PLUS_ROOT}/../datasets\ninit_states: ${LIBERO_PLUS_ROOT}/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"]