See manipulation/Deepnote.md for most details. Here are the relevant commands for updating the underactuated repos:
docker pull robotlocomotion/drake:focal
docker build -f setup/docker/Dockerfile -t russtedrake/underactuated:latest .
docker push russtedrake/underactuated:latest
docker build -f setup/docker/Dockerfile -t russtedrake/underactuated:$(git rev-parse --short HEAD) .
docker push russtedrake/underactuated:$(git rev-parse --short HEAD)
echo russtedrake/underactuated:$(git rev-parse --short HEAD)