# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

# Isaac Sim base container: https://catalog.ngc.nvidia.com/orgs/nvidia/containers/isaac-sim
# Please check the NGC container page for license information.

# Base image
ARG ISAACSIM_BASE_IMAGE_ARG
ARG ISAACSIM_VERSION_ARG
FROM ${ISAACSIM_BASE_IMAGE_ARG}:${ISAACSIM_VERSION_ARG} AS base
ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}

# Set default RUN shell to bash
SHELL ["/bin/bash", "-c"]

# Adds labels to the Dockerfile
LABEL version="2.1.1"
LABEL description="Dockerfile for building and running the Isaac Lab framework inside Isaac Sim container image."

# Arguments
# Path to Isaac Sim root folder
ARG ISAACSIM_ROOT_PATH_ARG
ENV ISAACSIM_ROOT_PATH=${ISAACSIM_ROOT_PATH_ARG}
# Path to the Isaac Lab directory
ARG ISAACLAB_PATH_ARG
ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG}
# Home dir of the runtime docker user, typically '/root'
ARG DOCKER_USER_HOME_ARG
ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
ENV HOME=${DOCKER_USER_HOME}

# Set environment variables
ENV LANG=C.UTF-8
ENV DEBIAN_FRONTEND=noninteractive

# Base image may end with a non-root user; switch to root for system-level
# setup and package installation.
USER root

# Install dependencies
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
    build-essential \
    libglib2.0-0 \
    ncurses-term \
    cmake \
    git \
    wget

# arm64-only build deps:
# - imgui-bundle has no prebuilt arm64 wheel; needs GL/X11 dev headers.
RUN if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
        apt-get update && \
        apt-get install -y --no-install-recommends \
        libgl1-mesa-dev libopengl-dev libglx-dev \
        libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev; \
    fi

# copy files necessary for installing Isaac Lab and its dependencies
# this way we minimize the chance of cache invalidation on file edits
COPY ../isaaclab.* ../environment.yml ../pyproject.toml ${ISAACLAB_PATH}/
COPY ../tools/ ${ISAACLAB_PATH}/tools/
COPY ../source/ ${ISAACLAB_PATH}/source/

# Fix the line endings for the shell scripts (Windows git may add \r)
RUN find ${ISAACLAB_PATH} -type f -name "*.sh" -exec sed -i 's/\r$//' {} +

# Ensure isaaclab.sh has execute permissions
RUN chmod +x ${ISAACLAB_PATH}/isaaclab.sh

# Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the Isaac Lab directory
RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ISAACLAB_PATH}/_isaac_sim

# Install toml dependency
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install toml

# Install apt dependencies for extensions that declare them in their extension.toml,
RUN ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
    apt-get -y autoremove && apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# for singularity usage, have to create the directories that will binded
RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
    mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
    mkdir -p ${DOCKER_USER_HOME}/.cache/pip && \
    mkdir -p ${DOCKER_USER_HOME}/.cache/nvidia/GLCache &&  \
    mkdir -p ${DOCKER_USER_HOME}/.nv/ComputeCache && \
    mkdir -p ${DOCKER_USER_HOME}/.nvidia-omniverse/logs && \
    mkdir -p ${DOCKER_USER_HOME}/.local/share/ov/data && \
    mkdir -p ${DOCKER_USER_HOME}/Documents

# for singularity usage, create NVIDIA binary placeholders
RUN touch /bin/nvidia-smi && \
    touch /bin/nvidia-debugdump && \
    touch /bin/nvidia-persistenced && \
    touch /bin/nvidia-cuda-mps-control && \
    touch /bin/nvidia-cuda-mps-server && \
    touch /etc/localtime && \
    mkdir -p /var/run/nvidia-persistenced && \
    touch /var/run/nvidia-persistenced/socket

RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
    ${ISAACLAB_PATH}/isaaclab.sh --install

# HACK: Remove install of quadprog dependency
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog

# aliasing isaaclab.sh and python for convenience
RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "alias python=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "alias python3=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "alias pip='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "alias pip3='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "alias tensorboard='${ISAACLAB_PATH}/_isaac_sim/python.sh ${ISAACLAB_PATH}/_isaac_sim/tensorboard'" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "export TZ=$(date +%Z)" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "shopt -s histappend" >> ${DOCKER_USER_HOME}/.bashrc && \
    echo "PROMPT_COMMAND='history -a'" >> ${DOCKER_USER_HOME}/.bashrc

# Create the non-root runtime user after root-only image setup is complete.
# The uid/gid 1000 match GitHub runner bind mounts used by Docker tests.
# --non-unique is required because some base image revisions already carry
# another user or group at uid/gid 1000.
RUN groupadd --non-unique --gid 1000 isaaclab \
 && useradd --non-unique --uid 1000 --gid 1000 -M -l -s /bin/bash -d ${DOCKER_USER_HOME} isaaclab

RUN chown -R isaaclab:isaaclab \
        ${ISAACLAB_PATH} \
        ${DOCKER_USER_HOME}

# Open up traversal of the Isaac Sim root and runtime home for non-root users.
# Inner Isaac Sim files keep their original permissions, so avoid chowning the
# full install. Keep the runtime home closed to unrelated users.
RUN chmod 755 \
        ${ISAACSIM_ROOT_PATH} \
 && chmod 750 \
        ${DOCKER_USER_HOME}

# copy the rest of the files
COPY --chown=isaaclab:isaaclab ../ ${ISAACLAB_PATH}/

# Pre-create every docker-compose named-volume mount point and hand it to the
# non-root runtime user. docker-compose.yaml is the single source of truth for
# the list; docker/utils/volume_mounts.py parses it so the paths are not
# duplicated here. A fresh named volume inherits ownership from the image
# directory at its mount path; if that directory is missing or root-owned, the
# volume comes up root-owned and the isaaclab user cannot write it (e.g.
# PermissionError creating logs/, or omni.datastore lock failures under
# kit/cache). set -o pipefail makes a parse failure abort the build:
# volume_mounts.py exits non-zero on an empty/unresolved list and grep exits
# non-zero if no paths are produced, so the build fails here rather than
# silently shipping an unprepared mount point.
RUN set -o pipefail \
 && export DOCKER_ISAACSIM_ROOT_PATH="${ISAACSIM_ROOT_PATH}" \
           DOCKER_ISAACLAB_PATH="${ISAACLAB_PATH}" \
           DOCKER_USER_HOME="${DOCKER_USER_HOME}" \
 && dirs="$(${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/docker/utils/volume_mounts.py | grep '^/')" \
 && mkdir -p ${dirs} \
 && chown -R isaaclab:isaaclab ${dirs}

USER isaaclab

# make working directory as the Isaac Lab directory
# this is the default directory when the container is run
WORKDIR ${ISAACLAB_PATH}