update last commit to install python3.10 with venv on Ubuntu, but not install Drake

Author: tyler-yankee

drake_pip/.github/ubuntu_setup

@@ -3,9 +3,21 @@
 
 set -euxo pipefail
 
+maybe_sudo=
+if [[ "${EUID}" -ne 0 ]]; then
+  maybe_sudo=sudo
+fi
+
 echo 'APT::Acquire::Retries "4";' > /etc/apt/apt.conf.d/80-acquire-retries
 echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-# setup/install_prereqs
+# setup/install_prereqs
+
+${maybe_sudo} apt-get update
+${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
+    python3-all-dev
+    python3.10-venv
+EOF
+)