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The input is a bitmap.
Yes, the plotter cannot lift the pen. This is what it looks like:
https://twitter.com/marekgibney/status/1579054642545438721
The solution you linked to is doing hatching. I also found a tool that does this:
https://github.com/plottertools/hatched
I will probably use that for a first try. If I do more plotting, I would hope to find a more intelligent hatching algorithm, which takes the shape of the areas it fills into account. If none extist, I might even write my own.
Ah, very nice.
That should reduce the effort needed to something you might be able to make quick work of, yourself, with some thought.
this website [1] recommends a tool called vpype [2] which might have an option to do what you need or might be able to be tweaked to do what you need
[1] https://www.acrylicode.com/svg-to-gcode-walkthrough/
[2] https://github.com/abey79/vpype