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Example for Tektronix RSA603A.
sudo apt-get instal virtualbox
sudo apt-get install virtualbox-dkms
sudo apt-get install virtualbox-guest-utils virtualbox-guest-x11 sudo apt-get install virtualbox-ext-pack
For USB 2.0/3.0 access:
sudo gpasswd -a <username> vboxusers
Do reboot.
Check installed extensions
VBoxManage list extpacks
VBoxManage modifyvm VM-name --vrde-property VNCPassword=<password>
Only one extension can be used. It can be switched with e.g.:
VBoxManage setproperty vrdeextpack "Oracle VM VirtualBox Extension Pack"
More details and help about configuring the remote access can be found in the VirtualBox manual.