Fanuc ChatGPT

Author: torayeff

README.md

@@ -102,6 +102,7 @@ We introduce an experimental feature: Robot Apps. This class facilitates modular
 
 1. [Pick and Place App](examples/PickAndPlaceApp.py)
 1. [Aruco Tracking App](examples/ArucoTrackingApp.py)
+1. [FANUC ChatGPT](examples/fanucpy-gpt/README.MD)
 
 ## Citation
 Please use the following to cite if you are using this library in academic publications [Towards Modular and Plug-and-Produce Manufacturing Apps](https://www.sciencedirect.com/science/article/pii/S2212827122004255)

examples/fanucpy-gpt/README.MD

@@ -0,0 +1,6 @@
+# FANUCPY-GPT
+
+This is a very early attempt to program and control industrial robots with plain human language using OpenAI ChatGPT.
+
+## Usage
+Check [demo.py](demo.py) and use with CAUTION!!!

examples/fanucpy-gpt/demo.py

@@ -0,0 +1,56 @@
+import openai
+import subprocess
+import json
+
+# open reference code
+with open("reference.py", "r") as f:
+    ref_code = " ".join(f.readlines())
+
+# prepare API call
+openai.api_key = "PUT-YOUR-OWN-KEY"
+messages = [
+    {"role": "system", "content": "You are coding assistant. Provide only code."},
+    {"role": "user", "content": "This is a reference code: " + ref_code},
+]
+
+
+while True:
+    cmd = input("Provide a command: ")
+    if cmd == "end":
+        break
+    msg = {
+        "role": "user",
+        "content": "Only using functions in the reference code "
+        f"write a full code with all necessary imports for the following task: {cmd}"
+        "If the task starts with remember ensure the code contains print."
+        "Otherwise there is no need for explanation an do not output anything.```"
+    }
+    messages.append(msg)
+
+    # call ChatGPT
+    response = openai.ChatCompletion.create(model="gpt-3.5-turbo", messages=messages)
+    chat_out = response["choices"][0]["message"]["content"]
+
+    # save chat history
+    msg = {"role": "assistant", "content": chat_out}
+    messages.append(msg)
+
+    if "fanucpy" in chat_out:
+        # write to a python file
+        with open("generated_code.py", "w") as f:
+            code = chat_out.split("```")
+            if len(code) > 1:
+                code = code[1]
+            else:
+                code = code[0]
+            code = code.strip("python")
+            f.write(code)
+
+        # run code in physical robot
+        output = subprocess.check_output(["python", "generated_code.py"])
+        print(output)
+        msg = {"role": "assistant", "content": "generated output " + str(output)}
+        messages.append(msg)
+
+    with open("messages.json", "w") as f:
+        json.dump(messages, f)

examples/fanucpy-gpt/reference.py

@@ -0,0 +1,43 @@
+from fanucpy import Robot
+
+# connecting to a physical robot
+robot = Robot(
+    robot_model="Fanuc",
+    host="192.168.0.109",
+    port=18735,
+    ee_DO_type="RDO",
+    ee_DO_num=7,
+)
+robot.connect()
+
+# move in joint space
+robot.move(
+    "joint",
+    vals=[19.0, 66.0, -33.0, 18.0, -30.0, -33.0],
+    velocity=100,
+    acceleration=100,
+    cnt_val=0,
+    linear=False,
+)
+
+# move in cartesian space
+robot.move(
+    "pose",
+    vals=[0.0, -28.0, -35.0, 0.0, -55.0, 0.0],
+    velocity=50,
+    acceleration=50,
+    cnt_val=0,
+    linear=False,
+)
+
+# open gripper
+robot.gripper(True)
+
+# close gripper
+robot.gripper(False)
+
+# get robot state
+print(f"Current pose: {robot.get_curpos()}")
+print(f"Current joints: {robot.get_curjpos()}")
+print(f"Instantaneous power: {robot.get_ins_power()}")
+print(f"Get gripper state: {robot.get_rdo(7)}")