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Update setup.md

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@ -29,6 +29,77 @@ sudo apt-get install iptables-persistent
sudo iptables-save > /etc/iptables/rules.v4
sudo ip6tables-save > /etc/iptables/rules.v6
```
### Configuring Apt Sources
By default, the unitree comes with jetpack revision `r35.1` and Ubuntu 20.04. If you're outside China, you can change the apt source lists to the default values for faster software download. First create a backup of the old apt sources:
```bash
sudo mv /etc/apt/sources.list /etc/apt/sources.list.old
```
Then copy the following into the `/etc/apt/sources.list`:
``` bash
# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic main restricted
## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-updates main restricted
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic universe
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-updates universe
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team, and may not be under a free licence. Please satisfy yourself as to
## your rights to use the software. Also, please note that software in
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic multiverse
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-updates multiverse
## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu bionic partner
# deb-src http://archive.canonical.com/ubuntu bionic partner
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security universe
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security multiverse
```
We can also enable the Nvidia mirrors as explained [here](https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/SD/SoftwarePackagesAndTheUpdateMechanism.html). Specifically, do `sudo vi /etc/apt/sources.list.d/nvidia-l4t-apt-source.list` and copy the following inside:
```bash
deb https://repo.download.nvidia.com/jetson/common r35.1 main
deb https://repo.download.nvidia.com/jetson/t234 r35.1 main
```
Finally, update the and upgrade:
```bash
sudo apt update
sudo apt upgrade
```
### Robot
Now tell the computer on the robot to use the internet shared by the host computer. SSH into the robot's computer with IP address `192.168.123.18`, username `unitree`, and password `123`. Note that the host computer's IP range should have already been set to static mode with an IP in the `192.168.123.x` range where x is anything except IPs already used by the others (e.g. `.18`).
@ -111,4 +182,4 @@ FROM ${BASE_IMAGE}
In addition to this added docker image layer, you can add your own post execution commands that are excuted each time you start the docker container. These commands should be appended to the end of `workspace-entrypoint.sh` script [here](../docker/scripts/workspace-entrypoint.sh).
#### Enabling GUI Access
In case you're interested in running the simulations inside the docker with GUI support, you need to run `xhost +` on your host terminal to allow X11 requests from the applications inside the Docker.
In case you're interested in running the simulations inside the docker with GUI support, you need to run `xhost +` on your host terminal to allow X11 requests from the applications inside the Docker.