Dockerfile.heavy_test

# Dockerfile.heavy_test
# This Dockerfile provides a local testing environment that mirrors the
# custom d-sorg-fleet-4core GitHub runner. It includes heavy dependencies
# to allow for live testing of physics engines locally in your IDE.

FROM ubuntu:24.04

ENV DEBIAN_FRONTEND=noninteractive
ENV PYTHONUNBUFFERED=1

# Install system dependencies (mirrors the fleet runner capabilities)
RUN apt-get update && apt-get install -y \
    python3.11 \
    python3.11-venv \
    python3.11-dev \
    python3-pip \
    curl \
    git \
    ffmpeg \
    libsm6 \
    libxext6 \
    libegl1 libgl1 xvfb \
    libxkbcommon-x11-0 \
    libxcb-cursor0 \
    libxcb-icccm4 \
    libxcb-image0 \
    libxcb-keysyms1 \
    libxcb-randr0 \
    libxcb-render-util0 \
    libxcb-shape0 \
    libxcb-xinerama0 \
    libxcb-xkb1 \
    libxcb-xinput0 \
    libxcb-xfixes0 \
    libdbus-1-3 \
    libxrandr2 libxss1 libxcursor1 libxcomposite1 \
    libasound2-dev libxi6 libxtst6 \
    libsdl2-dev libsdl2-mixer-dev libsdl2-image-dev libsdl2-ttf-dev \
    nodejs \
    npm \
    && rm -rf /var/lib/apt/lists/*

# Set up a virtual environment and update pip
RUN python3.11 -m venv /opt/venv
ENV PATH="/opt/venv/bin:$PATH"
RUN pip install --upgrade pip

# Install testing and CI utilities
RUN pip install pytest pytest-cov pytest-timeout pytest-xdist ruff black mypy

# Install heavy physics, robotics, and ML dependencies
# - Pinocchio (pin)
# - Pink (pink)
# - Croccodyl (croccodyl)
# - OpenSim (opensim)
# - MyoSuite (myosuite)
# - MuJoCo (mujoco)
# - Drake (drake)
# - MediaPipe (mediapipe)
RUN pip install pin pink croccodyl opensim myosuite mujoco drake mediapipe

WORKDIR /app

# Copy the local codebase into the container
COPY . /app/

# Install the project locally as editable
RUN if [ -f "pyproject.toml" ]; then pip install -e .; elif [ -f "requirements.txt" ]; then pip install -r requirements.txt; fi

# Default command runs the heavy test suite using xvfb-run if headless display is needed
CMD ["xvfb-run", "-a", "pytest", "-v", "-m", "live_simulation"]