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Setup Software


We are working on a Cloud base infrastructure with JupyterNotebook. Hardware, Webots, and mathematical model robots runs on the cloud instead. The new instruction is comming October 2023.

Checkout the Cloud Option?

You can checkout the new cloud infrastructure here. Please note that this is still experimental and detailed instrucions are not there yet.

Setup Python Environment

If this is your first time using Python, you need to install Python and development environments, such as IDE. For more instructions, you can visit:


We will setup virtual environment (venv) later, so you only need to install Python and IDE.

Setting up Python Environment

Create an Account

Step 0

Fork the Lab Repository

Step 1

Clone Your Forked Repository

Step 2

Activate Venv

Step 3

Install Requirements

Step 4

Project Repository

We have a GitLab project available for R4A. You need to do the following:


In our regular class, we ask students to fork the repository so they can fill the codes and worksheets, then upload them.

For this workshop, it is optional.

1. Git clone

Go to, and click Fork.

The address should be like:

Then run git clone

In Pycharm, you can go to "Get from version control" or "Git -> Clone..."


You can now copy paste the git repository url. pycharm form url

Or click GitHub. You may be asked to log in if this is your first time. Now you can search for the repository and then click clone.


After you click

In terminal,

git clone
You need to change the address to your own fork URL.

Never used Git before?

For more information on Git and how to use it, visit 
[Git Version Control](.././pre_req/git){ .md-button target=_blank }

2. Create Venv

  1. Go to "File > Settings" or "Preferences" on macOS


  1. In the left sidebar of the dialog, navigate to "Project: " > "Python Interpreter".

  2. Click the setting wheel icon)


  1. click add


  1. In the drop down select a Python version (Python 3.8 or 3.9 recommended)


  1. Click "OK"

Additionaly, you need to go to Terminal (Terminal tab at thebuttom of your Pycharm)

Then click Command Prompt img.png Now you should see (venv) being activated.

Alternatively you can do:

Set-ExecutionPolicy -Scope CurrentUser -ExecutionPolicy RemoteSigned
Now when you open the terminal, Pycharm can automatically start venv for you always.

Now you should see (venv) being activated in the terminal.

  1. Navigate to the directory where you want to create your Python project. You can use the cd command followed by the path of the desired directory.
    cd /path/to/project
  2. then run
    python -m venv venv
  3. now activate your venv
source venv/bin/activate

You may get an error saying
venv\scripts\activate : File C:\Users\TanakaYusuke\PycharmProjects\REMS_ROS\venv\scripts\activate.ps1 cannot be loaded because running scripts is disabled on this system. For more information, see about_Execution_Policies at 
At line:1 char:1
+ venv\scripts\activate
+ ~~~~~~~~~~~~~~~~~~~~~
+ CategoryInfo          : SecurityError: (:) [], PSSecurityException
+ FullyQualifiedErrorId : UnauthorizedAccess

Then you should run

Set-ExecutionPolicy -Scope CurrentUser -ExecutionPolicy RemoteSigned
now run the first command again. It should now work

  1. Now you should see (venv) in your terminal. venv

3. Install Requirements

This repository comes with requirements.txt, which includes all dependencies necessary.

You can run the following command in the project directory:

pip3 install -r requirements.txt


After a while, it should be able to install all required libraries. This includes our main software infrastructure, REMS: Robotics Educational Middleware System. For more information, visit REMS

What's next?

Now let's explore the codes to control the robot from your PC. Software Instruction