Use Franka Arm to paint graffti

The vision for this work is to make robot arm paint like Sandro Botticelli. Well, the goal is not quite there yet, but we managed to draw some simple geometric shapes. This was accomplished through probabilistic roadmap search applied to inverse kinematic solutions. I was in charged of defining painting strokes in code as well as 3D print a brush socket for end effector to ensure stable drawing. Be sure to check out the video below,