# 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

# Detect Ubuntu version and install CUDA 12.8 via NVIDIA network repo (cuda-keyring)
RUN set -euo pipefail && \
    . /etc/os-release && \
    case "$ID" in \
      ubuntu) \
        case "$VERSION_ID" in \
          "20.04") cuda_repo="ubuntu2004";; \
          "22.04") cuda_repo="ubuntu2204";; \
          "24.04") cuda_repo="ubuntu2404";; \
          *) echo "Unsupported Ubuntu $VERSION_ID"; exit 1;; \
        esac ;; \
      *) echo "Unsupported base OS: $ID"; exit 1 ;; \
    esac && \
    apt-get update && apt-get install -y --no-install-recommends wget gnupg ca-certificates && \
    wget -q https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-keyring_1.1-1_all.deb && \
    dpkg -i cuda-keyring_1.1-1_all.deb && \
    rm -f cuda-keyring_1.1-1_all.deb && \
    wget -q https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-${cuda_repo}.pin && \
    mv cuda-${cuda_repo}.pin /etc/apt/preferences.d/cuda-repository-pin-600 && \
    apt-get update && \
    apt-get install -y --no-install-recommends \
        cuda-toolkit-12-8 \
        libcudnn9-cuda-12 \
        libcusparselt0 \
        libnccl2 \
        libnccl-dev \
        libnvjitlink-12-8 && \
    apt-get -y autoremove && apt-get clean && rm -rf /var/lib/apt/lists/*


ENV CUDA_HOME=/usr/local/cuda-12.8
ENV PATH=${CUDA_HOME}/bin:${PATH}
ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:${LD_LIBRARY_PATH}
ENV TORCH_CUDA_ARCH_LIST=8.0+PTX

# 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

# HACK: Remove pre-bundled torch BEFORE installing Isaac Lab dependencies.
# This forces isaaclab.sh --install to install torch fresh to site-packages,
# rather than skipping because it detects the pre-bundled version.
RUN rm -rf ${ISAACSIM_ROOT_PATH}/exts/omni.isaac.ml_archive/pip_prebundle/torch*

# HACK: Reinstall pip properly after removing prebundled packages
# The removal of torch* corrupts pip's vendor packages (_structures.py is deleted).
# We must completely remove pip first, then do a clean install.
RUN rm -rf ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/pip* && \
    wget -q https://bootstrap.pypa.io/get-pip.py && \
    ${ISAACLAB_PATH}/_isaac_sim/kit/python/bin/python3 get-pip.py && \
    rm get-pip.py

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

# HACK: Uninstall quadprog as it causes issues with some reinforcement learning frameworks
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog

# Install cuRobo from source (pinned commit); needs CUDA env and Torch
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation \
    "nvidia-curobo @ git+https://github.com/NVlabs/curobo.git@ebb71702f3f70e767f40fd8e050674af0288abe8"

# Install isaaclab_teleop (needed by Pink IK tests and related env configs)
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --editable ${ISAACLAB_PATH}/source/isaaclab_teleop

# 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 the cuRobo 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}