Welcome to `franka_plotter 1.0.0`!

franka_plotter is a program that makes Franka Emika Panda robot plot images! It is written in C++ and uses libfranka.

Dependencies

libfranka
CMake
(optional) GIMP
(optional) Autotrace (Follow this guide to build from source)

Usage

franka_plotter requires a SVG image to operate. The image can be passed through command line:

./franka_plotter image.svg

franka_plotter_grasp is an utility to grasp and release the robot's fingers.

./franka_plotter_grasp 10   #Grasp with force of 10 Newtons
./franka_plotter_grasp      #Release

Note that franka_plotter has only partial support of SVG format - it supports only <path> elements, all other elements will be ignored. One way to get such image is to use vectorize.sh script (requires GIMP and Autotrace):

./vectorize.sh image.png

franka_plotter also reads configuration file franka_plotter.config. Parameters, their description and default values could be found in the file.

Building

The library can be built with CMake using the following commands:

mkdir build
cd build
cmake ..
cmake --build .

Contributors

Kyrylo Sovailo
Models from model directory were initially generated with Gazebo from ROS package franka_description
Example image derpy.png depicts Derpy Hooves. All rights on the character are reserved by Hasbro Inc

About

Drawing images with Franka Panda robot

Topics

[robot](/content/topics/robot "Topic: robot"/index.html) [plotting](/content/topics/plotting "Topic: plotting"/index.html) [franka-panda](/content/topics/franka-panda "Topic: franka-panda"/index.html)

License

MIT license

Welcome to franka_plotter 1.0.0!

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