[Federico Orazi]

我想禁用图形渲染来speed up offline programming. My sample code should be something like this:

RDK.setCollisionActive(COLLISION_OFF)
RDK.Render(False)

#Define Tool
Tool=RDK.Item(ToolName,ITEM_TYPE_TOOL)
if notTool.Valid():
raiseException("Tool %s not valid or not available."%ToolName )

# Get robot item
Robot=RDK.Item("",ITEM_TYPE_ROBOT)
if notRobot.Valid():
raiseException("Robot not valid or not available.")

#Get the Robot number degree of freedom
Robot_dofs =len(Robot.JointsHome().list())

# Get Home target item
T_HOME=RDK.Item("HOME",ITEM_TYPE_TARGET)
if notT_HOME.Valid():
raiseException("Target HOME not found.")

# Move robot to HOME pose
Robot.setJoints(T_HOME.Joints().list())
LastRobotTarget=T_HOME

#Get CS reference
ReferenceCS=RDK.Item("ReferenceCS",ITEM_TYPE_FRAME)
if notReferenceCS.Valid():
raiseException("ReferenceCS not found.")

#Set ReferenceCS respect to the robot
Robot.setPoseFrame(ReferenceCS)
LastRobotPose=Robot.Pose()
LastRobotPoseAbs=Robot.PoseAbs()
LastRobotJoints=Robot.Joints().list()

StandardSpeedL=1000
StandardSpeedJ=50
ProgramName="MyProgram"

#Assuming to have P1 and P2 already defined
T1=RDK.AddTarget('P1', ReferenceCS)
T1.setAsJointTarget()
T1.setPose(P1)
T1.SetAsCartesianTarget()
T2=RDK.AddTarget('P2', ReferenceCS)
T2.setAsJointTarget()
T2.setPose(P2)
T2.SetAsCartesianTarget()

prog = RDK.AddProgram(ProgramName)
prog.setSpeed(StandardSpeedL,StandardSpeedJ,-1,-1)
prog.setPoseTool(Tool)
prog.setPoseFrame(ReferenceCS)
prog.setRounding(100)
prog.MoveJ(T_HOME)
prog.setSpeed(StandardSpeedL,StandardSpeedJ,-1,-1)
prog.MoveL(T1)
prog.MoveJ(T2)
prog.setSpeed(StandardSpeedL,StandardSpeedJ,-1,-1)
prog.setSpeed(StandardSpeedL,StandardSpeedJ,-1,-1)
prog.MoveJ(T_HOME)

I also tried RDK.Render(False) instruction in example macros (such as SampleOfflineProgramming.py) without success.