Optimized Docker build to fix OOM errors

Dockerfile

@@ -7,7 +7,8 @@ ENV FOUNDATIONPOSE_MODEL_REPO=gpue/foundationpose-weights
 ENV USE_REAL_MODEL=true
 
 # Ensure NumPy 1.x for CUDA extension compatibility
-RUN pip install --no-cache-dir "numpy<2" transformers
+RUN pip install --no-cache-dir "numpy<2" transformers \
+    && pip install --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py310_cu118_pyt210/download.html
 
 # Set MAX_JOBS=1 BEFORE any CUDA compilation to limit memory usage
 ENV MAX_JOBS=1

app.py

@@ -75,6 +75,10 @@ logging.basicConfig(
 )
 logger = logging.getLogger(__name__)
 
+# Ensure OMP_NUM_THREADS is a valid integer to avoid libgomp warnings
+if not os.environ.get("OMP_NUM_THREADS", "").isdigit():
+    os.environ["OMP_NUM_THREADS"] = "1"
+
 # Always use real FoundationPose model
 USE_REAL_MODEL = True
 
@@ -110,7 +114,10 @@ class FoundationPoseInference:
                     device=str(self.device),
                     weights_dir="weights"
                 )
-                logger.info("✓ Real FoundationPose model initialized successfully")
+                if getattr(self.model, "available", True):
+                    logger.info("✓ Real FoundationPose model initialized successfully")
+                else:
+                    raise RuntimeError("FoundationPose dependencies missing")
 
             except Exception as e:
                 logger.error(f"Failed to initialize real model: {e}", exc_info=True)

estimator.py

@@ -31,6 +31,7 @@ try:
 except ImportError as e:
     logger.warning(f"FoundationPose modules not available: {e}")
     FOUNDATIONPOSE_AVAILABLE = False
+    trimesh = None
 
 
 def generate_naive_mask(
@@ -82,6 +83,7 @@ class FoundationPoseEstimator:
         self.scorer = None
         self.refiner = None
         self.glctx = None
+        self.available = FOUNDATIONPOSE_AVAILABLE
 
         # Check if FoundationPose is available
         if not FOUNDATIONPOSE_ROOT.exists():
@@ -124,11 +126,14 @@ class FoundationPoseEstimator:
             # Load mesh if provided
             mesh = None
             if mesh_path and Path(mesh_path).exists():
-                try:
-                    mesh = trimesh.load(mesh_path)
-                    logger.info(f"Loaded mesh for '{object_id}' from {mesh_path}")
-                except Exception as e:
-                    logger.warning(f"Failed to load mesh: {e}")
+                if trimesh is None:
+                    logger.warning("trimesh not available, skipping mesh load")
+                else:
+                    try:
+                        mesh = trimesh.load(mesh_path)
+                        logger.info(f"Loaded mesh for '{object_id}' from {mesh_path}")
+                    except Exception as e:
+                        logger.warning(f"Failed to load mesh: {e}")
 
             # Store object registration
             self.registered_objects[object_id] = {