Evan add aws dcv with claude code and aic setup

.gitignore

@@ -1,3 +1,6 @@
+# AWS security files
+aws/*.pem
+
 # MacOS Security Files
 .DS_Store
 .claude

aws/install_dcv.sh

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+# install_dcv.sh — Install NICE DCV remote desktop on Ubuntu 24.04
+set -eo pipefail
+
+echo "=== Installing Ubuntu Desktop ==="
+sudo apt-get update -qq
+sudo apt-get install -y ubuntu-desktop
+
+echo "=== Installing NICE DCV ==="
+cd /tmp
+ARCH=$(dpkg --print-architecture)
+# Use ubuntu2404 for Noble; fall back to ubuntu2204
+DCV_URL="https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu2404-${ARCH}.tgz"
+wget -q "$DCV_URL" -O nice-dcv.tgz 2>/dev/null \
+    || wget -q "https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu2204-${ARCH}.tgz" -O nice-dcv.tgz
+tar -xzf nice-dcv.tgz
+cd nice-dcv-*/
+sudo apt-get install -y ./nice-dcv-server_*.deb ./nice-dcv-web-viewer_*.deb
+
+echo "=== Starting DCV ==="
+sudo systemctl enable --now dcvserver
+
+echo "=== Set the ubuntu user password (required for DCV login) ==="
+sudo passwd ubuntu
+
+echo "DCV installed. Connect via https://<instance-ip>:8443"

aws/install_devtools.sh

@@ -0,0 +1,42 @@
+#!/usr/bin/env bash
+# install_devtools.sh — Install dev tools (Node via NVM, Claude Code)
+
+set -eo pipefail
+
+echo "=== Installing prerequisites ==="
+sudo apt-get update -qq
+sudo apt-get install -y curl ca-certificates build-essential
+
+# Install NVM
+if [ ! -d "$HOME/.nvm" ]; then
+  echo "=== Installing NVM ==="
+  curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.7/install.sh | bash
+fi
+
+export NVM_DIR="$HOME/.nvm"
+[ -s "$NVM_DIR/nvm.sh" ] && . "$NVM_DIR/nvm.sh"
+
+# Install Node
+echo "=== Installing Node.js (LTS) ==="
+nvm install --lts
+nvm use --lts
+nvm alias default 'lts/*'
+
+# Install Claude
+echo "=== Installing Claude Code ==="
+npm install -g @anthropic-ai/claude-code
+
+# Persist NVM
+if ! grep -q 'NVM_DIR' "$HOME/.bashrc"; then
+  echo "=== Updating ~/.bashrc ==="
+  cat << 'EOF' >> "$HOME/.bashrc"
+
+# NVM setup
+export NVM_DIR="$HOME/.nvm"
+[ -s "$NVM_DIR/nvm.sh" ] && . "$NVM_DIR/nvm.sh"
+EOF
+fi
+
+echo "=== Done ==="
+echo "Run: source ~/.bashrc"
+echo "Then: claude"

aws/install_sim.sh

@@ -0,0 +1,205 @@
+#!/usr/bin/env bash
+# install_sim.sh — Install all 3 AIC simulation lanes
+#   Lane 1: Gazebo (distrobox + pixi)
+#   Lane 2: MuJoCo (ROS 2 colcon + SDF→MJCF conversion)
+#   Lane 3: Isaac Lab (Docker)
+#
+# Usage: bash install_sim.sh [--skip-isaac-build]
+set -eo pipefail
+
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+AIC="$REPO_ROOT/References/aic"
+WS="$HOME/ws_aic"
+ISAACLAB="$HOME/IsaacLab"
+MUJOCO_WORLD="$HOME/aic_mujoco_world"
+MJCF="$AIC/aic_utils/aic_mujoco/mjcf"
+DISPLAY="${DISPLAY:-:1}"; export DISPLAY
+SHELL_RC="$HOME/.bashrc"
+
+SKIP_ISAAC_BUILD=false
+[[ "${1:-}" == "--skip-isaac-build" ]] && SKIP_ISAAC_BUILD=true
+
+die() { echo "[FAIL] $*" >&2; exit 1; }
+
+[[ -d "$AIC" ]] || die "AIC submodule not found at $AIC. Run: git submodule update --init --recursive"
+
+# ── System packages ──────────────────────────────────────────────────────────
+echo "=== System packages ==="
+sudo apt-get update -qq
+# Remove Ubuntu vcstool if present (conflicts with ROS python3-vcstool)
+dpkg -l vcstool 2>/dev/null | grep -q "^ii" && sudo dpkg --remove --force-remove-reinstreq vcstool 2>/dev/null && sudo apt --fix-broken install -y 2>/dev/null || true
+sudo apt-get install -y \
+    curl wget git ca-certificates gnupg lsb-release \
+    build-essential python3 python3-pip g++-14 gcc-14 \
+    distrobox x11-xserver-utils tmux
+
+# ── NVIDIA Container Toolkit ─────────────────────────────────────────────────
+echo "=== NVIDIA Container Toolkit ==="
+if ! dpkg -l nvidia-container-toolkit &>/dev/null; then
+    curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey \
+        | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg 2>/dev/null || true
+    curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list \
+        | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' \
+        | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list >/dev/null
+    sudo apt-get update -qq && sudo apt-get install -y nvidia-container-toolkit
+    sudo nvidia-ctk runtime configure --runtime=docker
+    sudo systemctl restart docker
+fi
+
+# ── Pixi ─────────────────────────────────────────────────────────────────────
+echo "=== Pixi ==="
+if ! command -v pixi &>/dev/null; then
+    curl -fsSL https://pixi.sh/install.sh | sh
+fi
+export PATH="$HOME/.pixi/bin:$PATH"
+grep -q '/.pixi/bin' "$SHELL_RC" 2>/dev/null \
+    || echo 'export PATH="$HOME/.pixi/bin:$PATH"' >> "$SHELL_RC"
+
+# ── Pixi workspace ──────────────────────────────────────────────────────────
+echo "=== Pixi workspace ==="
+# bwrap needs setuid for rattler-build's sandbox to create user namespaces
+[[ -u /usr/bin/bwrap ]] || sudo chmod u+s /usr/bin/bwrap
+mkdir -p "$WS/src"
+[[ -e "$WS/src/aic" ]] || ln -s "$AIC" "$WS/src/aic"
+cd "$WS/src/aic" && pixi install
+
+# ── Lane 1: Gazebo distrobox ────────────────────────────────────────────────
+echo "=== Lane 1: Gazebo (distrobox) ==="
+export DBX_CONTAINER_MANAGER=docker
+docker pull ghcr.io/intrinsic-dev/aic/aic_eval:latest
+distrobox list 2>/dev/null | grep -q "aic_eval" \
+    || distrobox create -r --nvidia -i ghcr.io/intrinsic-dev/aic/aic_eval:latest aic_eval
+
+# ── Lane 2: ROS 2 Kilted + MuJoCo ──────────────────────────────────────────
+echo "=== Lane 2: ROS 2 Kilted ==="
+if ! dpkg -l ros-kilted-ros-base 2>/dev/null | grep -q "^ii"; then
+    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+        -o /usr/share/keyrings/ros-archive-keyring.gpg
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+      http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" \
+      | sudo tee /etc/apt/sources.list.d/ros2.list >/dev/null
+    sudo apt-get update -qq
+    sudo apt-get install -y ros-kilted-desktop python3-rosdep python3-colcon-common-extensions
+    sudo rosdep init 2>/dev/null || true
+    rosdep update --rosdistro kilted 2>/dev/null || true
+fi
+
+echo "=== Lane 2: SDFormat bindings ==="
+if [[ ! -f /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg ]]; then
+    sudo wget -q https://packages.osrfoundation.org/gazebo.gpg \
+        -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
+      http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
+      | sudo tee /etc/apt/sources.list.d/gazebo-stable.list >/dev/null
+    sudo apt-get update -qq
+fi
+sudo apt-get install -y python3-sdformat16 python3-gz-math9 libsdformat16
+
+echo "=== Lane 2: MuJoCo colcon build ==="
+cd "$WS"
+[[ -d "$WS/src/mujoco" ]] || (cd "$WS/src" && vcs import < aic/aic_utils/aic_mujoco/mujoco.repos)
+source /opt/ros/kilted/setup.bash
+rosdep install --from-paths src --ignore-src --rosdistro kilted -yr \
+    --skip-keys "gz-cmake3 DART libogre-dev libogre-next-2.3-dev" 2>/dev/null || true
+export CC=gcc-14 CXX=g++-14
+GZ_BUILD_FROM_SOURCE=1 colcon build \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release \
+    --merge-install --symlink-install \
+    --packages-ignore lerobot_robot_aic 2>&1 | tail -5
+source "$WS/install/setup.bash"
+
+echo "=== Lane 2: SDF→MJCF conversion ==="
+mkdir -p "$MUJOCO_WORLD"
+xhost +local:docker 2>/dev/null || true
+
+# Start Gazebo to export expanded SDF
+docker rm -f aic_sdf_export 2>/dev/null || true
+docker run -d --rm --name aic_sdf_export --network host --gpus all \
+    -e DISPLAY="$DISPLAY" -v /tmp/.X11-unix:/tmp/.X11-unix \
+    ghcr.io/intrinsic-dev/aic/aic_eval:latest \
+    spawn_task_board:=true spawn_cable:=true cable_type:=sfp_sc_cable \
+    attach_cable_to_gripper:=true ground_truth:=true start_aic_engine:=false
+echo "  Waiting 25s for Gazebo ..." && sleep 25
+
+docker exec aic_sdf_export bash -c '
+    source /ws_aic/install/setup.bash
+    gz service -s /world/aic_world/generate_world_sdf \
+        --reqtype gz.msgs.SdfGeneratorConfig --reptype gz.msgs.StringMsg --timeout 10000 \
+        -r "global_entity_gen_config { expand_include_tags { data: true } }" \
+    | sed "s/data: \"//" | sed "s/\"$//" | sed "s/\\\\n/\n/g" | sed "s/\\\\\x27/'"'"'/g" \
+    > /tmp/aic_expanded.sdf
+'
+docker cp aic_sdf_export:/tmp/aic_expanded.sdf /tmp/aic_expanded.sdf
+docker rm -f aic_sdf_export 2>/dev/null || true
+[[ -s /tmp/aic_expanded.sdf ]] || die "SDF export failed"
+
+# Fix SDF paths
+python3 -c "
+import re
+with open('/tmp/aic_expanded.sdf') as f: c = f.read()
+c = re.sub(r'<include>.*?<uri>file://<urdf-string>.*?</include>', '', c, flags=re.DOTALL)
+c = c.replace('file://<urdf-string>/model://', 'model://')
+for name in ['lc_plug_visual.glb','sc_plug_visual.glb','sfp_module_visual.glb']:
+    label = name.replace('_visual.glb','').replace('_',' ').title().replace('Sfp','SFP').replace('Lc','LC').replace('Sc','SC')
+    c = c.replace(f'file:///{name}', f'model://{label}/{name}')
+with open('/tmp/aic_expanded.sdf','w') as f: f.write(c)
+"
+
+# Extract UR5e meshes from Docker image
+if [[ ! -d "$MUJOCO_WORLD/ur_description" ]]; then
+    docker create --name aic_mesh_copy ghcr.io/intrinsic-dev/aic/aic_eval:latest
+    docker cp aic_mesh_copy:/ws_aic/install/share/ur_description "$MUJOCO_WORLD/ur_description"
+    docker rm aic_mesh_copy
+fi
+
+# Convert SDF→MJCF
+source "$WS/install/setup.bash"
+export GZ_SIM_RESOURCE_PATH="$AIC/aic_assets/models:$MUJOCO_WORLD"
+sdf2mjcf /tmp/aic_expanded.sdf "$MUJOCO_WORLD/aic_world.xml" 2>&1 | tail -3
+
+# Copy to mjcf dir and run add_cable_plugin.py
+cp "$MUJOCO_WORLD"/*.xml "$MUJOCO_WORLD"/*.obj "$MUJOCO_WORLD"/*.png "$MUJOCO_WORLD"/*.stl "$MJCF/" 2>/dev/null || true
+cd "$AIC"
+python3 aic_utils/aic_mujoco/scripts/add_cable_plugin.py \
+    --input "$MJCF/aic_world.xml" --output "$MJCF/aic_world.xml" \
+    --robot_output "$MJCF/aic_robot.xml" --scene_output "$MJCF/scene.xml" 2>&1 | tail -3
+
+# ── Lane 3: Isaac Lab ───────────────────────────────────────────────────────
+echo "=== Lane 3: Isaac Lab ==="
+if [[ ! -d "$ISAACLAB" ]]; then
+    git clone https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB"
+    cd "$ISAACLAB" && git checkout v2.3.2 2>/dev/null || true
+fi
+[[ -d "$ISAACLAB/aic" ]] || git clone https://github.com/intrinsic-dev/aic.git "$ISAACLAB/aic"
+
+ASSETS="$ISAACLAB/aic/aic_utils/aic_isaac/aic_isaaclab/source/aic_task/aic_task/tasks/manager_based/aic_task/Intrinsic_assets"
+[[ -d "$ASSETS" ]] || echo "[WARN] Intrinsic_assets missing — download from NVIDIA developer portal and extract to: $ASSETS"
+
+if [[ "$SKIP_ISAAC_BUILD" == false ]]; then
+    cd "$ISAACLAB"
+    echo "  Building IsaacLab Docker image (~20-30 min) ..."
+    echo "y" | python3 docker/container.py build base
+fi
+
+# ── Shell aliases ────────────────────────────────────────────────────────────
+echo "=== Shell aliases ==="
+if ! grep -q 'aic-policy()' "$SHELL_RC" 2>/dev/null; then
+cat >> "$SHELL_RC" << 'ALIASES'
+
+# ── AIC sim aliases ──────────────────────────────────────────────────────────
+export DBX_CONTAINER_MANAGER=docker
+alias aic-eval-gt='distrobox enter -r aic_eval -- /entrypoint.sh ground_truth:=true start_aic_engine:=true'
+alias aic-eval-no-gt='distrobox enter -r aic_eval -- /entrypoint.sh ground_truth:=false start_aic_engine:=true'
+aic-policy() {
+    local policy="${1:-aic_example_policies.ros.WaveArm}"
+    [[ "$policy" != *.* ]] && policy="aic_example_policies.ros.$policy"
+    cd "$HOME/ws_aic/src/aic"
+    pixi run ros2 run aic_model aic_model --ros-args -p use_sim_time:=true -p policy:="$policy"
+}
+alias aic-zenoh='source "$HOME/ws_aic/install/setup.bash" && export RMW_IMPLEMENTATION=rmw_zenoh_cpp && export ZENOH_CONFIG_OVERRIDE="transport/shared_memory/enabled=true" && ros2 run rmw_zenoh_cpp rmw_zenohd'
+alias aic-mujoco='source "$HOME/ws_aic/install/setup.bash" && export RMW_IMPLEMENTATION=rmw_zenoh_cpp && export ZENOH_CONFIG_OVERRIDE="transport/shared_memory/enabled=true" && ros2 launch aic_mujoco aic_mujoco_bringup.launch.py'
+alias aic-isaac='cd "$HOME/IsaacLab" && echo y | python3 docker/container.py start base && python3 docker/container.py enter base'
+ALIASES
+fi
+
+echo "=== install_sim.sh complete ==="

aws/setup.sh

@@ -0,0 +1,48 @@
+#!/usr/bin/env bash
+# setup.sh — Master script: installs everything then runs headless tests
+#
+# Usage:
+#   bash setup.sh                    # full install + headless tests
+#   bash setup.sh --skip-install     # headless tests only
+#   bash setup.sh --skip-isaac-build # skip 30-min Isaac Lab Docker build
+#   bash setup.sh --test-gui         # run GUI tests after headless
+set -eo pipefail
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+cd "$HOME/Project-Automaton"
+echo "=== Submodules ==="
+git submodule update --init --recursive
+SKIP_INSTALL=false
+SKIP_ISAAC_BUILD=false
+TEST_GUI=false
+
+for arg in "$@"; do
+    case $arg in
+        --skip-install)      SKIP_INSTALL=true ;;
+        --skip-isaac-build)  SKIP_ISAAC_BUILD=true ;;
+        --test-gui)          TEST_GUI=true ;;
+    esac
+done
+
+echo "╔══════════════════════════════════════════╗"
+echo "║  AIC Setup — Project Automaton           ║"
+echo "╚══════════════════════════════════════════╝"
+echo ""
+
+if [[ "$SKIP_INSTALL" == false ]]; then
+    ISAAC_FLAG=""
+    [[ "$SKIP_ISAAC_BUILD" == true ]] && ISAAC_FLAG="--skip-isaac-build"
+    bash "$DIR/install_sim.sh" $ISAAC_FLAG
+fi
+
+echo ""
+bash "$DIR/test_headless.sh"
+
+if [[ "$TEST_GUI" == true ]]; then
+    echo ""
+    bash "$DIR/test_gui.sh"
+fi
+
+echo ""
+echo "Done. Source ~/.bashrc for aliases: aic-eval-gt, aic-policy, aic-mujoco, aic-isaac"