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The beautiful soup package can be downloaded by the following:

sudo apt-get install python-beautifulsoup

This should not require any additional updates to the PYTHONPATH variable. It should just work from here.

As an aside, the universal robot package is also available for groovy using:

sudo apt-get install ros-groovy-universal-robot

By downloading the package using sudo apt-get, the dependencies like Beautiful Soup should be taken care of. However, there are some features in the github groovy version that are not in the debian version.