diff --git a/.github/workflows/ghpages.yml b/.github/workflows/ghpages.yml
index 1ab82c898..18825dc9a 100644
--- a/.github/workflows/ghpages.yml
+++ b/.github/workflows/ghpages.yml
@@ -52,7 +52,7 @@ jobs:
       - name: Extract docs
         run: |
           . /rmf_demos_ws/install/setup.bash
-          pipenv run python3 scripts/extract_docs.py -o docs
+          pnpm run generate-docs
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v1
         with:
diff --git a/packages/api-server/api_server/app.py b/packages/api-server/api_server/app.py
index 0176b9b13..00ac20d55 100644
--- a/packages/api-server/api_server/app.py
+++ b/packages/api-server/api_server/app.py
@@ -217,13 +217,13 @@ async def on_shutdown():
 
 @app.get("/docs", include_in_schema=False)
 async def custom_swagger_ui_html():
-    openapi_url = app.openapi_url if app.openapi_url is not None else "/openapi.json"
+    openapi_url = f"{app_config.public_url.geturl()}{app.openapi_url}"
     return get_swagger_ui_html(
         openapi_url=openapi_url,
         title=app.title + " - Swagger UI",
         oauth2_redirect_url=app.swagger_ui_oauth2_redirect_url,
-        swagger_js_url="/static/swagger-ui-bundle.js",
-        swagger_css_url="/static/swagger-ui.css",
+        swagger_js_url=f"{app_config.public_url.geturl()}/static/swagger-ui-bundle.js",
+        swagger_css_url=f"{app_config.public_url.geturl()}/static/swagger-ui.css",
     )
 
 
@@ -234,11 +234,11 @@ async def swagger_ui_redirect():
 
 @app.get("/redoc", include_in_schema=False)
 async def redoc_html():
-    openapi_url = app.openapi_url if app.openapi_url is not None else "/openapi.json"
+    openapi_url = f"{app_config.public_url.geturl()}{app.openapi_url}"
     return get_redoc_html(
         openapi_url=openapi_url,
         title=app.title + " - ReDoc",
-        redoc_js_url="/static/redoc.standalone.js",
+        redoc_js_url=f"{app_config.public_url.geturl()}/static/redoc.standalone.js",
     )
 
 
diff --git a/packages/api-server/package.json b/packages/api-server/package.json
index ed1fc3ac0..9f4555634 100644
--- a/packages/api-server/package.json
+++ b/packages/api-server/package.json
@@ -6,13 +6,14 @@
   "scripts": {
     "prepack": "../../scripts/pipenv run python setup.py bdist_wheel",
     "restart": "RMF_API_SERVER_CONFIG=sqlite_local_config.py ../../scripts/pipenv run python -m api_server",
-    "start": "rm -rf run && mkdir -p run/cache && RMF_API_SERVER_CONFIG=sqlite_local_config.py ../../scripts/pipenv run python -m api_server",
+    "start": "rm -rf run && mkdir -p run/cache && RMF_API_SERVER_CONFIG=${RMF_API_SERVER_CONFIG:-sqlite_local_config.py} ../../scripts/pipenv run python -m api_server",
     "start:psql": "rm -rf run && mkdir -p run/cache && RMF_API_SERVER_CONFIG=psql_local_config.py ../../scripts/pipenv run python -m api_server",
     "test": "../../scripts/pipenv run python scripts/test.py",
     "test:cov": "../../scripts/pipenv run python -m coverage run scripts/test.py",
     "test:report": "../../scripts/pipenv run python -m coverage html && xdg-open htmlcov/index.html",
     "lint": "../../scripts/pipenv run pyright && ../../scripts/pipenv run pylint api_server --ignore=ros_pydantic,rmf_api",
-    "generate-models": "./generate-models.sh"
+    "generate-models": "./generate-models.sh",
+    "generate-docs": "RMF_API_SERVER_CONFIG=scripts/docs_config.py ../../scripts/pipenv run python scripts/extract_docs.py -o docs"
   },
   "devDependencies": {
     "pipenv-install": "workspace:*"
diff --git a/packages/api-server/scripts/docs_config.py b/packages/api-server/scripts/docs_config.py
new file mode 100644
index 000000000..41306534f
--- /dev/null
+++ b/packages/api-server/scripts/docs_config.py
@@ -0,0 +1,11 @@
+import os
+
+from api_server.default_config import config
+
+here = os.path.dirname(__file__)
+
+config.update(
+    {
+        "public_url": "/rmf-web",
+    }
+)
diff --git a/packages/api-server/scripts/extract_docs.py b/packages/api-server/scripts/extract_docs.py
index de2ca7da4..bf02a33e3 100644
--- a/packages/api-server/scripts/extract_docs.py
+++ b/packages/api-server/scripts/extract_docs.py
@@ -25,20 +25,22 @@ def cleanup():
 
 atexit.register(cleanup)
 server_proc = subprocess.Popen(
-    ("pnpm", "start"), cwd=f"{os.path.dirname(__file__)}/..", start_new_session=True
+    ("python", "-m", "api_server"),
+    cwd=f"{os.path.dirname(__file__)}/..",
+    start_new_session=True,
 )
 
 time.sleep(5)  # wait for server to be ready
-outdir = f"{args.output}/docs/api-server/"
+outdir = f"{args.output}"
 os.makedirs(outdir, exist_ok=True)
 
-with urlopen("http://127.0.0.1:8000/docs") as resp:
+base_url = "http://localhost:8000/rmf-web"
+with urlopen(f"{base_url}/docs") as resp:
     html: bytes = resp.read()
-    html = html.replace(b"/openapi.json", b"/rmf-web/docs/api-server/openapi.json")
     with open(f"{outdir}/index.html", "bw") as f:
         f.write(html)
 
-with urlopen("http://127.0.0.1:8000/openapi.json") as resp:
+with urlopen(f"{base_url}/openapi.json") as resp:
     openapi = json.loads(resp.read())
     openapi["servers"] = [
         {
@@ -48,3 +50,15 @@ def cleanup():
     ]
     with open(f"{outdir}/openapi.json", "w") as f:
         json.dump(openapi, f)
+
+files_to_download = [
+    "/static/swagger-ui-bundle.js",
+    "/static/swagger-ui.css",
+]
+
+for p in files_to_download:
+    with urlopen(f"{base_url}{p}") as resp:
+        fp = f"{outdir}{p}"
+        os.makedirs(os.path.dirname(fp), exist_ok=True)
+        with open(fp, "bw") as f:
+            f.write(resp.read())