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/bag_record_per_trial.sh

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+#!/usr/bin/env bash
+# bag_record_per_trial.sh — One ros2 bag per InsertCable trial (wraps rosbag_per_trial.py)
+#
+# Usage (from host, AIC already in PATH via pixi):
+#   export AIC_WS=~/ws_aic/src/aic    # or Project-Automaton/References/aic
+#   bash aws/bag_record_per_trial.sh ~/bags/my_session
+#
+# Prerequisites: sim + aic_engine running; policy (e.g. CheatCode) up; same Zenoh as usual.
+set -eo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+OUT="${1:?Usage: $0 <output-directory>}"
+
+if [[ -n "${AIC_WS:-}" ]]; then
+  A="$AIC_WS"
+elif [[ -d "$SCRIPT_DIR/../References/aic" ]]; then
+  A="$(cd "$SCRIPT_DIR/../References/aic" && pwd)"
+else
+  A="$HOME/ws_aic/src/aic"
+fi
+
+[[ -d "$A" ]] || { echo "[ERROR] AIC workspace not found: $A (set AIC_WS)" >&2; exit 1; }
+
+cd "$A"
+exec pixi run python "$SCRIPT_DIR/rosbag_per_trial.py" --output-dir "$(mkdir -p "$OUT" && cd "$OUT" && pwd)"

aws/cheatcode_record.sh

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+#!/usr/bin/env bash
+# cheatcode_record.sh — Start AIC eval with ground truth (CheatCode), optional ROS bag recording
+#
+# Matches the distrobox + CheatCode flow in working_gazebo_setup.sh, plus ros2 bag topics for imitation/offline use.
+#
+# Usage:
+#   bash aws/cheatcode_record.sh help          # print all terminal commands (default)
+#   bash aws/cheatcode_record.sh policy        # run CheatCode (requires sim already up)
+#   bash aws/cheatcode_record.sh record        # record bag (requires sim + policy)
+#
+# Optional env:
+#   AIC_WS   — pixi workspace root (default: References/aic in repo, else ~/ws_aic/src/aic)
+#   BAG_DIR  — output directory for bags (default: ~/bags)
+
+set -eo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
+REF_AIC="$REPO_ROOT/References/aic"
+if [[ -n "${AIC_WS:-}" ]]; then
+  :
+elif [[ -d "$REF_AIC" ]]; then
+  AIC_WS="$REF_AIC"
+else
+  AIC_WS="$HOME/ws_aic/src/aic"
+fi
+BAG_DIR="${BAG_DIR:-$HOME/bags}"
+
+print_help() {
+  cat <<EOF
+CheatCode eval + ROS bag recording (three terminals)
+
+=== Terminal 1 — eval container (Gazebo + stack, ground truth) ===
+export DBX_CONTAINER_MANAGER=docker
+distrobox enter -r aic_eval
+
+Inside the container:
+/entrypoint.sh ground_truth:=true start_aic_engine:=true
+
+=== Terminal 2 — CheatCode policy ===
+cd $AIC_WS
+pixi run ros2 run aic_model aic_model --ros-args -p use_sim_time:=true -p policy:=aic_example_policies.ros.CheatCode
+
+(If ROS discovery fails from the host, run Terminal 2 inside the same distrobox shell and use:
+ ros2 run aic_model aic_model --ros-args -p use_sim_time:=true -p policy:=aic_example_policies.ros.CheatCode )
+
+=== Terminal 3 — record (ROS 2 bag) ===
+cd $AIC_WS
+pixi run ros2 bag record -o $BAG_DIR/cheatcode_run_\$(date +%Y%m%d_%H%M%S) /observations /aic_controller/pose_commands /joint_states
+
+Sanity check (optional):
+pixi run ros2 topic list | grep -E 'observations|pose_commands|joint_states'
+
+Note: This produces a ROS bag, not a Hugging Face LeRobot dataset. For ACT/LeRobot format use lerobot-record + teleop (see References/aic/aic_utils/lerobot_robot_aic/README.md).
+
+One bag per InsertCable trial (manifest + trial_NNNN_* dirs):
+  bash $SCRIPT_DIR/bag_record_per_trial.sh ~/bags/my_session
+
+Runnable shortcuts from repo (with AIC_WS=$AIC_WS):
+  bash aws/cheatcode_record.sh policy
+  bash aws/cheatcode_record.sh record
+EOF
+}
+
+run_policy() {
+  [[ -d "$AIC_WS" ]] || {
+    echo "[ERROR] AIC workspace not found: $AIC_WS" >&2
+    echo "Set AIC_WS or clone aic to ~/ws_aic/src/aic (see working_gazebo_setup.sh)." >&2
+    exit 1
+  }
+  cd "$AIC_WS"
+  exec pixi run ros2 run aic_model aic_model --ros-args -p use_sim_time:=true -p policy:=aic_example_policies.ros.CheatCode
+}
+
+run_record() {
+  [[ -d "$AIC_WS" ]] || {
+    echo "[ERROR] AIC workspace not found: $AIC_WS" >&2
+    exit 1
+  }
+  mkdir -p "$BAG_DIR"
+  local out="$BAG_DIR/cheatcode_run_$(date +%Y%m%d_%H%M%S)"
+  cd "$AIC_WS"
+  exec pixi run ros2 bag record -o "$out" /observations /aic_controller/pose_commands /joint_states
+}
+
+case "${1:-help}" in
+  help|-h|--help) print_help ;;
+  policy|cheatcode) run_policy ;;
+  record|bag) run_record ;;
+  *)
+    echo "Unknown command: $1" >&2
+    print_help >&2
+    exit 1
+    ;;
+esac

aws/convert_rosbags_to_lerobot.sh

@@ -0,0 +1,39 @@
+#!/usr/bin/env bash
+# convert_rosbags_to_lerobot.sh — Session of per-trial ros2 bags → LeRobot v3 (ACT layout)
+#
+# Usage:
+#   bash aws/convert_rosbags_to_lerobot.sh <session-dir> <output-dataset-dir> [--extra-args...]
+#
+# Example:
+#   bash aws/convert_rosbags_to_lerobot.sh ~/bags/run1 ~/datasets/aic_act --repo-id local/aic_run1
+#
+# Requires: AIC pixi env with lerobot + rosbag2_py (see aws/install_sim.sh).
+set -eo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+SESSION="${1:?Usage: $0 <session-dir> <output-dataset-dir> [-- args for rosbag_to_lerobot_aic.py]}"
+OUTPUT="${2:?Usage: $0 <session-dir> <output-dataset-dir> [-- args...]}"
+shift 2
+
+if [[ -n "${AIC_WS:-}" ]]; then
+  A="$AIC_WS"
+elif [[ -d "$SCRIPT_DIR/../References/aic" ]]; then
+  A="$(cd "$SCRIPT_DIR/../References/aic" && pwd)"
+else
+  A="$HOME/ws_aic/src/aic"
+fi
+
+[[ -d "$A" ]] || { echo "[ERROR] AIC workspace not found: $A (set AIC_WS)" >&2; exit 1; }
+[[ -d "$SESSION" ]] || { echo "[ERROR] Session directory not found: $SESSION" >&2; exit 1; }
+
+SESSION_ABS="$(cd "$SESSION" && pwd)"
+OUT_PARENT="$(dirname "$OUTPUT")"
+OUT_LEAF="$(basename "$OUTPUT")"
+mkdir -p "$OUT_PARENT"
+OUTPUT_ABS="$(cd "$OUT_PARENT" && pwd)/$OUT_LEAF"
+
+cd "$A"
+exec pixi run python "$SCRIPT_DIR/rosbag_to_lerobot_aic.py" \
+  --session-dir "$SESSION_ABS" \
+  --output-dir "$OUTPUT_ABS" \
+  "$@"

aws/install_dcv.sh

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+#!/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 +1,58 @@
+#!/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" ] && . "$NVM_DIR/nvm.sh"
+EOF
+fi
+
+# add hf hub login
+echo "=== Done ==="
+echo "Run: source ~/.bashrc"
+echo "Then: claude"
+
+echo "=== Hugging Face CLI (pipx) ==="
+pipx ensurepath
+export PATH="$HOME/.local/bin:$PATH"
+if ! command -v hf &>/dev/null; then
+    pipx install "huggingface_hub[cli]"
+fi
+export PATH="$HOME/.local/bin:$PATH"
+grep -q '.local/bin' "$SHELL_RC" 2>/dev/null \
+    || echo 'export PATH="$HOME/.local/bin:$PATH"' >> "$SHELL_RC"
+echo ""
+echo "  Hugging Face: open a new shell (or: source ~/.bashrc), then run once:"
+echo "    hf auth login"
+echo "  Non-interactive / CI: export HF_TOKEN=hf_..."
+echo ""