Dockerfile

# Embodied Navigation Benchmark — Research Environment
# Evaluates autonomous AI agents in 3D spatial navigation tasks

FROM python:3.11-slim

# ── System dependencies ────────────────────────────────────────────────────
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl wget unzip ca-certificates gnupg \
    && rm -rf /var/lib/apt/lists/*

# ── Install Java runtime ───────────────────────────────────────────────────
RUN apt-get update && apt-get install -y --no-install-recommends \
    openjdk-21-jre-headless \
    && rm -rf /var/lib/apt/lists/*

# ── Python packages ────────────────────────────────────────────────────────
RUN pip install --no-cache-dir gradio requests psutil uvicorn fastapi

# ── Install ngrok v3 ───────────────────────────────────────────────────────
RUN curl -sLo /tmp/ngrok.deb https://bin.equinox.io/c/bNyj1mQVY4c/ngrok-v3-stable-linux-amd64.deb && \
    dpkg -i /tmp/ngrok.deb 2>/dev/null; \
    which ngrok || (curl -sLo /usr/local/bin/ngrok https://bin.equinox.io/c/bNyj1mQVY4c/ngrok-v3-stable-linux-amd64 && chmod +x /usr/local/bin/ngrok); \
    ngrok version || echo "ngrok may not be available"

# ── Install cloudflared as backup tunnel ───────────────────────────────────
RUN curl -sLo /usr/local/bin/cloudflared https://github.com/cloudflare/cloudflared/releases/latest/download/cloudflared-linux-amd64 && \
    chmod +x /usr/local/bin/cloudflared || echo "cloudflared install attempted"

# ── Application ────────────────────────────────────────────────────────────
WORKDIR /app
COPY app.py /app/app.py
COPY start.sh /app/start.sh
COPY env/ /app/env/

RUN mkdir -p /app/simulation/world /app/simulation/logs /app/data

ENV PORT=7860
EXPOSE 7860

HEALTHCHECK --interval=30s --timeout=15s --start-period=180s --retries=5 \
    CMD curl -f http://localhost:7860/health || exit 1

CMD ["bash", "/app/start.sh"]