diff --git a/go1_gym_deploy/docker/Makefile b/go1_gym_deploy/docker/Makefile
index c79c557..f5efcbe 100644
--- a/go1_gym_deploy/docker/Makefile
+++ b/go1_gym_deploy/docker/Makefile
@@ -4,6 +4,8 @@ build:
 clean-build:
 	docker build -t jetson-model-deployment . --no-cache=true
 run:
+	docker stop foxy_controller || true
+	docker rm foxy_controller || true
 	docker run -it \
 		--env="DISPLAY" \
 		--env="QT_X11_NO_MITSHM=1" \
diff --git a/go1_gym_deploy/scripts/send_to_unitree.sh b/go1_gym_deploy/scripts/send_to_unitree.sh
index 4c73d31..ccaa067 100755
--- a/go1_gym_deploy/scripts/send_to_unitree.sh
+++ b/go1_gym_deploy/scripts/send_to_unitree.sh
@@ -3,6 +3,6 @@
 wget --directory-prefix=../docker -nc --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1XkVpyYyYqQQ4FcgLIDUxg-GR1WI89-XC' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1XkVpyYyYqQQ4FcgLIDUxg-GR1WI89-XC" -O deployment_image.tar && rm -rf /tmp/cookies.txt
 
 #rsync -av -e ssh --exclude=*.pt --exclude=*.mp4 $PWD/../../go1_gym_deploy $PWD/../../runs $PWD/../../setup.py pi@192.168.12.1:/home/pi/go1_gym
-rsync -av -e ssh --exclude=*.pt --exclude=*.mp4 $PWD/../../go1_gym_deploy $PWD/../../runs $PWD/../../setup.py unitree@192.168.123.15:/home/unitree/go1_gym
+rsync -av -e ssh --exclude=*.pt --exclude=*.mp4 $PWD/../../go1_gym_deploy $PWD/../../runs $PWD/../setup.py unitree@192.168.123.15:/home/unitree/go1_gym
 #scp -r $PWD/../../runs pi@192.168.12.1:/home/pi/go1_gym
 #scp -r $PWD/../../setup.py pi@192.168.12.1:/home/pi/go1_gym
diff --git a/go1_gym_deploy/setup.py b/go1_gym_deploy/setup.py
new file mode 100755
index 0000000..2099745
--- /dev/null
+++ b/go1_gym_deploy/setup.py
@@ -0,0 +1,12 @@
+from setuptools import find_packages
+from distutils.core import setup
+
+setup(
+    name='go1_gym',
+    version='1.0.0',
+    author='Gabriel Margolis',
+    license="BSD-3-Clause",
+    packages=find_packages(),
+    author_email='gmargo@mit.edu',
+    description='Toolkit for deployment of sim-to-real RL on the Unitree Go1.'
+)