Convert SVG (text is not supported; convert text to paths) and HPGL to gcode for a 3-axis GCode machine, where the Z-axis controls the pen height.
You can also convert the same SVG subset to HPGL.
Run with no arguments for some help.
Note on multiple pen usage:
The pen definition file is one-pen per line, in the format:
n (x,y) svgcolor comment
Here, n is the pen number (pen 1 is assumed to be loaded at the start), (x,y) is the offset from the default pen position (note: gcodeplot.py will correct the offset and will NOT check for clipping at drawing edges--it is your responsibility to make sure your tool doesn't crash into anything due to offset), svgcolor is a color specification in svg format, e.g., rgb(255,255,00), #FFFF00 or yellow, and the comment is a human-readable comment.