Dockerfile

FROM python:3.11-slim

# non-interactive apt + wheels only (faster, avoids abuse flags)
ENV DEBIAN_FRONTEND=noninteractive
ENV PIP_DISABLE_PIP_VERSION_CHECK=1
ENV PIP_NO_CACHE_DIR=1
# ENV PIP_ONLY_BINARY=:all:  # Commented out to allow building ruckig from source

# Install build dependencies for ruckig
RUN apt-get update && apt-get install -y --no-install-recommends \
    libgl1-mesa-dev \
    libglib2.0-0 \
    git \
    build-essential \
    cmake \
    libeigen3-dev \
 && rm -rf /var/lib/apt/lists/*
 
RUN apt-get update && apt-get install -y --no-install-recommends \
    nginx \
 && rm -rf /var/lib/apt/lists/*

WORKDIR /workspace

# your working versions
COPY requirements.txt ./
RUN apt-get update && apt-get install -y --no-install-recommends git && \
    pip install --upgrade pip &&\
    pip install --verbose -r requirements.txt

RUN echo ${PWD} && ls -lR

# Copy planning utilities first
COPY meshcat_shapes.py planning_utils.py ./

# app + nginx config + entrypoint
COPY app.py robot.py nginx.conf run.sh  ws_bridge.py ./
RUN chmod +x /workspace/run.sh \
 && rm -f /etc/nginx/nginx.conf \
 && ln -s /workspace/nginx.conf /etc/nginx/nginx.conf

EXPOSE 7860
CMD ["/workspace/run.sh"]