diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..a5468e6
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+source_me.sh
diff --git a/Dockerfile b/Dockerfile
index 31e8c83..86c6b82 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -119,6 +119,7 @@
 # X起動後にpulseaudio --start でdaemonを開始させる。
 RUN apt-get update && apt-get install -y --no-install-recommends \
       alsa pulseaudio libgtk2.0-0 && \
+      # alsa pulseaudio && \
     rm -rf /var/lib/apt/lists/*
 
 USER root
@@ -139,6 +140,31 @@
       libdbus-c++-1-0v5 && \
     rm -rf /var/lib/apt/lists/*
 
+# install nodejs and npm
+# https://www.digitalocean.com/community/tutorials/how-to-install-node-js-on-ubuntu-16-04
+RUN curl -sL https://deb.nodesource.com/setup_8.x -o nodesource_setup.sh \
+ && bash nodesource_setup.sh \
+ && apt-get update \
+ && apt-get install nodejs
+
+COPY control.js /simlauncher/
+COPY package.json /simlauncher/
+WORKDIR /simlauncher
+RUN npm install
+WORKDIR /
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      xdotool && \
+    rm -rf /var/lib/apt/lists/*
+
+# setup python api
+WORKDIR /
+RUN git clone https://github.com/lgsvl/PythonAPI \
+ && cd PythonAPI \
+ && pip3 install --user -e .
+
+COPY test-api-move.py /api.py
+
 # (3) Run Xorg server + x11vnc + X applications
 # see run.sh for details
 COPY run.sh /run.sh
diff --git a/control.js b/control.js
new file mode 100644
index 0000000..8e57963
--- /dev/null
+++ b/control.js
@@ -0,0 +1,52 @@
+const axios = require('axios')
+const request = require('request')
+const client = axios.create({
+  baseURL: 'http://localhost:8082',
+  responseType: 'json',
+  withCredentials: true,
+})
+const username = process.env.LG_USERNAME
+const password = process.env.LG_PASSWORD
+
+function control_simulation (mode) {
+  return new Promise((resolve, reject) => {
+    const source = axios.CancelToken.source()
+    request.post({
+      uri: 'https://account.lgsvlsimulator.com/users/signin',
+      headers: {'Content-Type': 'application/json'},
+      json: {
+        'username': username,
+        'password': password,
+      }
+    }, (err, res, data) => {
+      const token = data.token
+      client.put(`/users/${encodeURIComponent(token)}`)
+        .then(res => {
+          const cook = res.headers['set-cookie'][0].split(';')[0]
+          client.request({
+            method: 'post',
+            cancelToken: source.token,
+            url: mode === 'stop' ? '/simulations/5/stop' : '/simulations/5/start',
+            headers: {
+              Cookie: cook
+            },
+          })
+            .then(res => {
+              console.log('done', res.data)
+              resolve()
+            })
+            .catch(err => {
+              console.log('error', err)
+              reject(err)
+            })
+        })
+    })
+  })
+}
+
+control_simulation('start')
+  .then((res) => { console.log('kicked') })
+
+module.exports = {
+  control_simulation,
+}
diff --git a/package.json b/package.json
new file mode 100644
index 0000000..8fd32f8
--- /dev/null
+++ b/package.json
@@ -0,0 +1,17 @@
+{
+  "name": "simulator",
+  "version": "1.0.0",
+  "description": "",
+  "main": "index.js",
+  "scripts": {
+    "test": "echo \"Error: no test specified\" && exit 1"
+  },
+  "author": "",
+  "license": "ISC",
+  "dependencies": {
+    "axios": "^0.19.0",
+    "axios-cookiejar-support": "^0.5.0",
+    "express": "^4.17.1",
+    "request": "^2.88.0"
+  }
+}
diff --git a/run.sh b/run.sh
index 0f3b27e..42cf007 100644
--- a/run.sh
+++ b/run.sh
@@ -1,4 +1,5 @@
 # inside docker script
+trap 'sudo kill $(jobs -p)' EXIT
 
 # 0. generate xorg.conf if not copied
 # [ ! -e /etc/X11/xorg.conf ] && nvidia-xconfig -a --virtual=$SCREEN_RESOLUTION --allow-empty-initial-configuration --enable-all-gpus --busid $BUSID
@@ -12,7 +13,8 @@
 sleep 1  # wait for the server gets ready
 
 # 2. start x11 and vnc connection
-sudo x11vnc -display :0 -passwd pass -forever -rfbport 5900 --verbose &
+#  --verbose
+sudo x11vnc -display :0 -passwd pass -forever -rfbport 5900 &
 sleep 2  # wait for the server gets ready
 
 # 2.5 start audio
@@ -24,16 +26,52 @@
 sudo /noVNC-1.1.0/utils/launch.sh --vnc localhost:5900 --listen 8081 &
 sleep 2
 
+# remove sudo group
+# gpasswd -d miyazaki unyo
+
 echo 'running noVNC at http://localhost:8081/vnc.html?host=localhost&port=8081'
 
 # 3. start simulator
 export DISPLAY=:0
-# ./lg/simulator -screen-height 480 -screen-width 640 -screen-quality Beautiful -screen-fullscreen 0
-# ./lg/simulator -p 8082
 # # xeyes
 # glxgears
 # glxinfo
 # vulkan
 # firefox
 # xterm
-openbox
+# openbox &
+
+# launch lgsim and its api server
+cd /lg
+# ./simulator -p 8082 -screen-height 480 -screen-width 640 -screen-quality Beautiful -screen-fullscreen 0 &
+./simulator -p 8082 &
+sleep 3
+xdotool key Tab
+xdotool key Tab
+xdotool key Tab
+xdotool key Tab
+xdotool key Tab
+xdotool key Return
+sleep 3
+
+# kick api mode
+node /simlauncher/control.js
+
+# launch autoware
+cd ~/Autoware
+. install/setup.bash
+roslaunch rosbridge_server rosbridge_websocket.launch &
+
+sleep 5
+# run simulation
+git clone https://github.com/lgsvl/PythonAPI
+cd PythonAPI
+pip3 install --user -e .
+python3 /api.py
+
+# sleep 10
+# echo 'finishing the simulation'
+# echo 'uploading rosbag to S3'
+
+# wait
+# sudo kill $(jobs -p)
diff --git a/server.sh b/server.sh
index 6421b99..6b93e82 100644
--- a/server.sh
+++ b/server.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
-docker build -t sim .
+docker build -t sim . && \
+# docker run --device=/dev/tty0:rw -it --rm --gpus all \
 docker run --privileged -it --rm --gpus all \
   -v $HOME/lgsvlsimulator-linux64-2019.11:/lg \
   -v $HOME/container-unity3d-2:/home/autoware/.config/unity3d:rw \
diff --git a/test-api-move.py b/test-api-move.py
new file mode 100755
index 0000000..89ed828
--- /dev/null
+++ b/test-api-move.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2019 LG Electronics, Inc.
+#
+# This software contains code licensed as described in LICENSE.
+#
+
+import os
+import lgsvl
+
+sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
+if sim.current_scene == "BorregasAve":
+  sim.reset()
+else:
+  sim.load("BorregasAve")
+
+spawns = sim.get_spawn()
+
+state = lgsvl.AgentState()
+state.transform = spawns[0]
+a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
+
+state = lgsvl.AgentState()
+
+forward = lgsvl.utils.transform_to_forward(spawns[0])
+right = lgsvl.utils.transform_to_right(spawns[0])
+
+# 10 meters ahead, on left lane
+state.transform.position = spawns[0].position + 10.0 * forward
+state.transform.rotation = spawns[0].rotation
+
+npc1 = sim.add_agent("Sedan", lgsvl.AgentType.NPC, state)
+
+state = lgsvl.AgentState()
+
+# 10 meters ahead, on right lane
+state.transform.position = spawns[0].position + 4.0 * right + 10.0 * forward
+state.transform.rotation = spawns[0].rotation
+
+npc2 = sim.add_agent("SUV", lgsvl.AgentType.NPC, state)
+
+# If the passed bool is False, then the NPC will not moved
+# The float passed is the maximum speed the NPC will drive
+# 11.1 m/s is ~40 km/h
+npc1.follow_closest_lane(True, 11.1)
+
+# 5.6 m/s is ~20 km/h
+npc2.follow_closest_lane(True, 5.6)
+
+sim.run()
diff --git a/utils/install-docker.sh b/utils/install-docker.sh
index 804a492..2cc0f9f 100644
--- a/utils/install-docker.sh
+++ b/utils/install-docker.sh
@@ -15,7 +15,12 @@
 curl -fsSL get.docker.com -o get-docker.sh
 sudo sh get-docker.sh
 
+# add $USER to docker group
+# to run without docker 
+sudo gpasswd -a $USER docker
+
 # to test (with gpu)
 # docker run --gpus all nvidia/cuda nvidia-smi
 # or (without gpu)
 # docker run hello-world
+