Quarky Humanoid - Documentation
  1. Quarky Humanoid - Getting Started
    1. All About Humanoid Robots
    2. Assemble the Quarky Humanoid Robot
    3. Programming the Humanoid with Block Coding in PictoBlox
    4. Programming the Humanoid with Python in PictoBlox
  2. Quarky Humanoid PictoBlox Extension
    1. Blocks
    2. Python Functions
  3. Humanoid Block Examples
    1. Wirelessly Controlled Humanoid
    2. Creating Humanoid Dance Sequences
    3. Face Detection with Humanoid Robots
    4. Face Tracking Controlled Humanoid Robot
    5. Sign Detection With Humanoid
    6. Hand Controlled Motion
    7. Gesture Controlled Humanoid With Machine Learning
    8. Pose Mimicking Humanoid with Machine Learning
    9. Sound Based Humanoid with Machine Learning
  4. Humanoid Python Examples
    1. Wirelessly Controlled Humanoid
    2. Creating Humanoid Dance Sequences
    3. Face Expression Controlled Humanoid – Python
    4. Face Tracking Controlled Humanoid Robot
    5. Sign Detection with Humanoid
    6. Gesture Controlled Humanoid With Machine Learning

Programming the Humanoid with Python in PictoBlox

Description
Learn how to install PictoBlox and program the Quarky Humanoid using Python in both Stage and Upload Modes. Understand how to use the Humanoid Python Library, and program the Humanoid to do predefined motions.

PictoBlox also provides the ability to program the Quarky Humanoid using Python in Desktop / Laptop versions. Let’s see how you can do it in this lesson.

PictoBlox

With PictoBlox, you can program the Humanoid to walk, dance, and make other cool moves! You can also create your own actions with special servo motors and servo oscillators.

If you haven’t installed PictoBlox, please follow the instructions:

Windows Installer (.exe)

STEP 1: Download the Pictoblox Installer (.exe) for Windows 7 and above (Release Notes).

Windows Installer 64-bit
Windows Installer 32-bit

STEP 2: Run the .exe file.

Some of the device gives the warning popup. You don’t have to worry, this software is harmless. Click on More info and then click on Run anyway.

STEP 3: Rest of the installation is straight forward, you can follow the popup and check on the option appropriate for your need.

 

Your software is now installed!

macOS Installer

STEP 1: Download the Pictoblox Installer (.dmg).

macOS Installer

STEP 2: Run the .dmg file.

Mobile App Installer

STEP 1: Open Google Play Store on your Smartphone and and search for PictoBlox or visit the link here to head over to the Google Play Store. You can even scan the QR Code below from your Smartphone to head to the PictoBlox App.

Mobile App Installer

STEP 2: Install the PictoBlox App.

Connecting Quarky with PictoBlox

Let’s begin by first connecting Quarky to PictoBlox. Follow the steps below for connecting Quarky to PictoBlox:

    1. First, connect Quarky to your laptop using a USB cable.
    2. Next, open PictoBlox on your desktop.
    3. After that, select Python Coding as your coding environment.
    4. Then, click the Board button in the toolbar and select Board as Quarky.
    5. Next, select the appropriate Serial port if the Quarky is connected via USB or the Bluetooth Port if you want to connect Quarky via Bluetooth and press Connect.
      COM Port
    6. Click on the Upload Firmware button. This will upload the latest firmware in Quarky.
      Note: If your device already has the latest firmware, then PictoBlox will show the message – Firmware is already updated. For learning more you can refer to this tutorial: https://ai.thestempedia.com/docs/quarky/quarky-toubleshooting/updating-quarky-firmaware-with-pictoblox/
    7. Once the firmware is uploaded, Quarky starts the Getting Started program. This runs only for the first time. Run through it.

And voila! Quarky is now connected to PictoBlox.

Humanoid Python Library for Stage Mode

Stage mode is one of the two modes you can write your programs in PictoBlox. In this mode, you can write scripts for the sprite and boards to interact with sprites in real-time. If you disconnect the board with PictoBlox, you cannot interact with the board anymore.

You can toggle between the upload mode and stage mode using the button on the top right side of PictoBlox.

In Python, use the following object declaration to use Python functions in Stage Mode:

humanoid = Humanoid(6, 1, 8, 3, 7, 2)

Humanoid Python Library for Upload Mode

Upload mode allows you to write scripts and upload them to the board so that you can use them even when it is not connected to your computer, for example, you need to upload a script for making moving robots. In this case, Quarky will run offline according to the program and it cannot interact with the stage.

In Python, use the following object declaration to use Python functions in Upload Mode:

from quarky import *
from expansion_addon import Humanoid
rover = MarsRover(6, 1, 8, 3, 7, 2)

Python Functions

The following functions are available for use in the Humanoid library:

Humanoid()
The function initializes the humanoid robot object in Python and maps the 6 servos to the specified pins.
Syntax: Humanoid(Right Hip = 7, Left Hip = 2, Right Foot = 6, Left Foot = 3, Right Hand = 8, Left Hand = 1)
setlegoffset()
The function calibrates the angles of the hip and foot servo motors and saves them in the memory of Quarky. Due to some mechanical assembly errors, there may be some misalignment of the servos which can be handled with this block.
Syntax: setlegoffset(Left Hip Offset = 0, Right Hip Offset = 0, Left Foot Offset = 0, Right Foot Offset = 0)
sethandoffset()
The function calibrates the angles of the hip and foot servo motors and saves them in the memory of Quarky.
Syntax: sethandoffset(Left Hand Offset = 0, Right Hand Offset = 0)
move()
The function performs the selected motion for the humanoid. The motion runs for the specified times and at the specified speed.
Syntax: move(motion = “forward”, time period = 1000, cycle = 1)
moveleg()
The function sets the servo motors of the humanoid hip and leg to the specified angles at the specified speed.
Syntax: moveleg(time = 1000, servo angles = [90,90,90,90])
movehand()
The function sets the servo motors of the humanoid hand to the specified angles at the specified speed.
Syntax: movehand(time = 1000, servo angles = [90,90])
moveall()
The function sets the servo motors of the humanoid hip, foot and hand to the specified angles at the specified speed.
Syntax: moveall(time = 1000, servo angles = [90,90,90,90,90,90])
movelimb()
The function sets the selected servo motor angle to the specified angle in the specified time. This creates a smooth motion for the servo motor from the current angle to the specified angle.
Syntax: movelimb(servo name = “RHip”, angle = 90, time = 1000)
setoscillationparameters()
The block sets the oscillator parameters for the selected servo motor.
Syntax: setoscillationparameters(servo name = “RHip”, amplitude = 30, offset = 90, time period = 1000, phase difference = 0)
resetoscillationparameters()
The function resets the oscillator parameter for all the servo motors.
Syntax: resetoscillationparameters()
executeoscillator()
The function executes the oscillator according to stored parameters for the servo motor and the current time.
Syntax: executeoscillator()
executesscillatorat()
The function executes the oscillator according to stored parameters for the servo motor and the current angle specified in the functions.
Syntax: executesscillatorat(angle = 90)
oscillateforcycles()
The function executes the oscillator for the specified cycles.
Syntax: oscillateforcycles(cycles = 1)
resetoscillationtimer()
The function resets the timer running for the oscillator to 0.
Syntax: resetoscillationtimer()
oscillationtimer()
The function reports the time passed from the reset for the oscillator.
Syntax: oscillationtimer()
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Activity: Control Humanoid Predefined Motions in Python

In this project, we will explain how to run predefined motions in PictoBlox for the Humanoid in Python. The predefined motions allow users to make the robot move forward, backward, left, and right.

Stage Mode

Follow the steps:

  1. Open a new project in PictoBlox.
  2. Select the Python Coding mode.
  3. Connect Quarky to PictoBlox.
  4. Create the following code in Python editor: 
    import time
humanoid = Humanoid(6, 1, 8, 3, 7, 2)

humanoid.home()
humanoid.move("forward", 1000, 1)
time.sleep(1)
humanoid.home()
  5. Click on the Run button to run the motion sequence.

The function move() can have the following arguments for the moves: “forward”, “backward”, “left”, and “right”.

Explore: Try other motions.

Upload Mode

Follow the steps:

  1. Open a new project in PictoBlox.
  2. Select the Python Coding mode. Switch to Upload Mode.
  3. Connect Quarky to PictoBlox.
  4. Create the following code in Python editor: 
    import time
from quarky import *
from expansion_addon import Humanoid
import time

humanoid = Humanoid(6, 1, 8, 3, 7, 2)

humanoid.home()
humanoid.move("forward", 1000, 1)
time.sleep(1)
humanoid.home()
  5. Click on the Upload button.
  6. Test the Humanoid. Try running other motions as well.

Conclusion

This concludes our lesson on how to program the Quarky Humanoid using Python in PictoBlox. We saw how to install PictoBlox, connect Quarky to PictoBlox, use the Humanoid Python Library in both Stage and Upload Modes, and program the Humanoid to do predefined motions. We hope you enjoyed the lesson, happy coding!

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