bump kernel version

Dockerfile

@@ -11,8 +11,9 @@ RUN --mount=target=/tmp/packages.txt,source=packages.txt \
 RUN rm -rf /var/lib/apt/lists/*
 RUN apt clean
 
-# merge platform-specific and common headers from the kernel directories. Run uname -r to get the version
-ARG kernel=6.12.20
+# merge platform-specific and common headers from the kernel directories.
+# Run uname -r to get the version, then strip out the platform suffix
+ENV kernel=6.12.21
 
 RUN --mount=target=/tmp/merge_headers.sh,source=merge_headers.sh \
     /tmp/merge_headers.sh /usr/src/linux-headers-$kernel-cloud-amd64 /usr/src/linux-headers-$kernel-common /usr/src/linux-headers-$kernel
@@ -58,6 +59,12 @@ ENV PATH="/home/user/venv/bin:$PATH"
 RUN --mount=target=/tmp/requirements.txt,source=requirements.txt \
     pip install --no-cache-dir -r /tmp/requirements.txt
 
+RUN wget https://github.com/ompl/ompl/releases/download/1.7.0/wheels-ubuntu-latest-x86_64.zip \
+    && unzip wheels-ubuntu-latest-x86_64.zip \
+    && pip install ompl-1.7.0-cp312-cp312-manylinux_2_28_x86_64.whl \
+    && rm wheels-ubuntu-latest-x86_64.zip \
+    && rm ompl-1.7.0-*.whl
+
 WORKDIR /home/user/app
 
 # deploy robot configuration

packages.txt

@@ -1,5 +1,6 @@
 git
 wget
+unzip
 curl
 vim
 gcc

requirements.txt

@@ -2,6 +2,4 @@ slobot==0.1.9
 
 git+https://github.com/Genesis-Embodied-AI/Genesis.git
 
-https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp312-cp312-manylinux_2_28_x86_64.whl # should match python version
-
 git+https://github.com/huggingface/lerobot.git