# 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.

# This Dockerfile is designed for a lerobot user who wants to
# experiment with the project. It starts from an Python Slim base image.

# docker build -f docker/Dockerfile.user -t lerobot-user .
# docker run -it --rm lerobot-user

# Configure the base image
ARG PYTHON_VERSION=3.10
FROM python:${PYTHON_VERSION}-slim

# Configure environment variables
ENV DEBIAN_FRONTEND=noninteractive \
    MUJOCO_GL=egl \
    PATH=/lerobot/.venv/bin:$PATH

# Install system dependencies and uv (as root)
RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential git curl libglib2.0-0 libegl1-mesa-dev ffmpeg \
    libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
    cmake pkg-config ninja-build \
    && 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/*

# Create application directory and set permissions
WORKDIR /lerobot
RUN chown -R user_lerobot:user_lerobot /lerobot

# Switch to the non-root user
USER user_lerobot

# Environment variables for the testing
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

# Create the virtual environment
# We use a virtual environment inside the container—even though the container itself \
# provides isolation—to closely resemble local development and allow users to \
# run other Python projects in the same container without dependency conflicts.
RUN uv venv

# Install Python dependencies for caching
COPY --chown=user_lerobot:user_lerobot 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

RUN uv pip install --no-cache ".[all]"

# Copy the rest of the application code
# Make sure to have the git-LFS files for testing
COPY --chown=user_lerobot:user_lerobot . .

# Set the default command
CMD ["/bin/bash"]
