##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
FROM nvcr.io/nvidia/pytorch:23.08-py3 AS torch_cuda_base

LABEL maintainer "User Name"

# add GL:
RUN apt-get update && apt-get install -y --no-install-recommends \
        pkg-config \
        libglvnd-dev \
        libgl1-mesa-dev \
        libegl1-mesa-dev \
        libgles2-mesa-dev && \
    rm -rf /var/lib/apt/lists/*

ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute


RUN apt-get update &&\
    apt-get install -y sudo git bash unattended-upgrades glmark2 &&\
    rm -rf /var/lib/apt/lists/*


# Deal with getting tons of debconf messages
# See: https://github.com/phusion/baseimage-docker/issues/58
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections

# Set timezone info
RUN apt-get update && apt-get install -y \
  tzdata \
  software-properties-common \
  && rm -rf /var/lib/apt/lists/* \
  && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
  && echo "America/Los_Angeles" > /etc/timezone \
  && dpkg-reconfigure -f noninteractive tzdata \
  && add-apt-repository -y ppa:git-core/ppa

RUN apt-get update && apt-get install -y \
  curl \
  lsb-core \
  wget \
  build-essential \
  cmake \
  git \
  git-lfs \
  iputils-ping \
  make \
  openssh-server \
  openssh-client \
  libeigen3-dev \
  libssl-dev \
  python3-pip \
  python3-ipdb \
  python3-tk \
  python3-wstool \
  sudo git bash unattended-upgrades \
  apt-utils \
  terminator \
  && rm -rf /var/lib/apt/lists/*

# push defaults to bashrc:
RUN apt-get update && apt-get install --reinstall -y \
  libmpich-dev \
  hwloc-nox libmpich12 mpich \
  && rm -rf /var/lib/apt/lists/*

# This is required to enable mpi lib access:
ENV PATH="${PATH}:/opt/hpcx/ompi/bin"
ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/hpcx/ompi/lib"



ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
ENV LD_LIBRARY_PATH="/usr/local/lib:${LD_LIBRARY_PATH}"


# copy pkgs directory: clone curobo into docker/pkgs folder.
COPY pkgs /pkgs

RUN pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"


RUN cd /pkgs/curobo && pip3 install .[dev,usd] --no-build-isolation