upgrade Debian and Genesis

Dockerfile

@@ -1,4 +1,4 @@
-FROM debian:bookworm
+FROM debian:trixie
 
 # add extra debian repos for proprietary packages
 COPY debian.sources /etc/apt/sources.list.d/debian.sources
@@ -12,7 +12,7 @@ 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=6.1.0-32
+ARG kernel=6.12.20
 
 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-$kernel
@@ -32,14 +32,24 @@ RUN ./$script --silent --kernel-source-path /usr/src/linux-headers-$kernel --ski
 # create user
 RUN useradd -m -s /bin/bash user
 
-RUN groupadd -g 105 render
-
 RUN usermod -aG video user
 RUN usermod -aG render user
 
 # next commands will be executed as the user
 USER user
-RUN python3 -m venv /home/user/venv
+
+ENV HOME=/home/user
+WORKDIR $HOME
+
+# python version
+ARG python_version=3.12.9
+
+RUN curl https://pyenv.run | bash
+ENV PATH="$HOME/.pyenv/bin:$PATH"
+RUN pyenv install $python_version
+ENV PATH="$HOME/.pyenv/versions/$python_version/bin:$PATH"
+
+RUN python -m venv /home/user/venv
 RUN echo "cd $HOME" >> /home/user/.bashrc
 RUN echo ". /home/user/venv/bin/activate" >> /home/user/.bashrc
 
@@ -48,9 +58,6 @@ 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
 
-# deploy application into target directory
-COPY --chown=user . /home/user/app
-
 WORKDIR /home/user/app
 
 # deploy robot configuration
@@ -58,6 +65,9 @@ RUN git clone -b main https://github.com/google-deepmind/mujoco_menagerie
 RUN cp -r mujoco_menagerie/trs_so_arm100 trs_so_arm100
 RUN rm -rf mujoco_menagerie
 
+# deploy application into target directory
+COPY --chown=user . /home/user/app
+
 ENV GRADIO_SERVER_NAME="0.0.0.0"
 
 CMD [ "python", "sim_gradio_video.py" ]

debian.sources

@@ -1,13 +1,13 @@
 Types: deb
 # http://snapshot.debian.org/archive/debian/20250224T000000Z
 URIs: http://deb.debian.org/debian
-Suites: bookworm bookworm-updates
+Suites: trixie trixie-updates
 Components: main non-free non-free-firmware
 Signed-By: /usr/share/keyrings/debian-archive-keyring.gpg
 
 Types: deb
 # http://snapshot.debian.org/archive/debian-security/20250224T000000Z
 URIs: http://deb.debian.org/debian-security
-Suites: bookworm-security
+Suites: trixie-security
 Components: main
 Signed-By: /usr/share/keyrings/debian-archive-keyring.gpg

packages.txt

@@ -2,8 +2,6 @@ git
 wget
 curl
 vim
-python3-pip
-python3-venv
 gcc
 make
 kmod
@@ -16,9 +14,23 @@ libxext6
 libvulkan-dev
 nvidia-vulkan-common
 vulkan-tools
+mesa-utils
 libxrender1
 libglib2.0-0
 libgl1
 libegl1
 ffmpeg
-procps
+procps
+build-essential
+libssl-dev
+zlib1g-dev
+libbz2-dev
+libreadline-dev
+libsqlite3-dev
+libncursesw5-dev
+xz-utils
+tk-dev
+libxml2-dev
+libxmlsec1-dev
+libffi-dev
+liblzma-dev

requirements.txt

@@ -1,5 +1,7 @@
-slobot==0.1.7
+slobot==0.1.8
 
-https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp311-cp311-manylinux_2_28_x86_64.whl # should match python version
+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