Update setup_ubuntu

scripts/setup_ubuntu

@@ -15,24 +15,20 @@ fi
 apt-get install --no-install-recommends -y $(cat <<EOF
   ca-certificates
   wget
+  gnupg
+
 EOF
 )
 
-wget -O drake.tar.gz \
-  https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
-trap 'rm -f drake.tar.gz' EXIT
-tar -xf drake.tar.gz -C /opt
+wget -qO- https://drake-apt.csail.mit.edu/drake.asc | gpg --dearmor - \
+  | tee /etc/apt/trusted.gpg.d/drake.gpg >/dev/null
 
-# Show version for debugging; use echo for newline / readability.
-echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
 
-/opt/drake/share/drake/setup/install_prereqs
+echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/$(lsb_release -cs) $(lsb_release -cs) main" \
+  | tee /etc/apt/sources.list.d/drake.list >/dev/null
 
-apt-get install --no-install-recommends -y gnupg
+apt-get install --no-install-recommends -y drake-dev
 
-apt-key adv --fetch-keys https://bazel.build/bazel-release.pub.gpg
-echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
-  > /etc/apt/sources.list.d/bazel.list
 
 apt-get update
 apt-get install --no-install-recommends -y $(cat <<EOF
@@ -62,15 +58,6 @@ apt-get install --no-install-recommends -y $(cat <<EOF
   patchelf
   pkg-config
   python-is-python3
-  python3-all-dev
-  python3-ipywidgets
-  python3-matplotlib
-  python3-munkres
-  python3-numpy
-  python3-pil
-  python3-pydot
-  python3-pygame
-  python3-yaml
   zlib1g-dev
 EOF
 )