Very easy achievement. I will be as spoiler free as possible.
After the first mission you will be in Prague, and in need of an aug specialist. Visit him (after an optional detour with a nice dose of side quests
) and you will re-unlock all of your abilities, reset back to "Factory Zero". You will also have 2 Praxis points available immediately upon completing this questline.
Your Icarus systems are basically a 1 level tree in and of themselves. Use the two points, unlock the Icarus systems (again) and viola - achievement for you.
Questlions, corrections and neg vote justifications below.