# 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](https://frankaemika.github.io/docs/libfranka.html).

## Contents

1. [Welcome to franka_plotter](/content/Data-Science-in-Mechanical-Engineering/franka_plotter#welcome-to-franka_plotter/index.html)
2. [Contents](/content/Data-Science-in-Mechanical-Engineering/franka_plotter#contents/index.html)
3. [Dependencies](/content/Data-Science-in-Mechanical-Engineering/franka_plotter#dependencies/index.html)
4. [Usage](/content/Data-Science-in-Mechanical-Engineering/franka_plotter#usage/index.html)
5. [Building](/content/Data-Science-in-Mechanical-Engineering/franka_plotter#building/index.html)
6. [Contributors](/content/Data-Science-in-Mechanical-Engineering/franka_plotter#contributors/index.html)

## Dependencies

- [libfranka](https://frankaemika.github.io/docs/libfranka.html)
- [CMake](https://cmake.org/)
- (optional) [GIMP](https://www.gimp.org/)
- (optional) [Autotrace](/content/autotrace/autotrace/index.html) (Follow [this](https://ourcodeworld.com/articles/read/1260/how-to-use-and-build-autotrace-from-source-in-ubuntu-18-04) guide to build from source)

## Usage

`franka_plotter` requires a [SVG](https://developer.mozilla.org/en-US/docs/Web/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](https://developer.mozilla.org/en-US/docs/Web/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](https://www.gimp.org/) and [Autotrace](/content/autotrace/autotrace/index.html)):

```
./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](https://cmake.org/) using the following commands:

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

## Contributors

- Kyrylo Sovailo
- Models from `model` directory were initially generated with [Gazebo](http://gazebosim.org/) 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](/content/Data-Science-in-Mechanical-Engineering/franka_plotter#MIT-1-ov-file/index.html)