[tokrat]

I use the most basic RDK I could make (I even deleted the tool to fasten the process).

I start RoboDK with the -NOUI option. Then my c++ code looks like this:

Code:

RDK->setCollisionActive(false);

// Test reachable
tJoints start = robot.SolveIK(pose1, home, &toolTCP, &robot2ref);
if (start.Length() != 6) { return false; }
tJoints end = robot.SolveIK(pose2, home, &toolTCP, &robot2ref);
if (end.Length() != 6) { return false; }

// Simulate MoveL
auto res = robot.MoveL_Test(start, pose2);

return res == 0;

I didn't show how I set all my variable but since it works I guess you would't need it.
The test is the most basic I could make, when I had my tool it took between 450 ms and 1.9 sec, since I deleted my tool it take around 250-350 ms.

Should I deactivate the refreshing even with the -NOUI option ?

---

Just for information, the computer run on Ubuntu 20.04, with a Ryzen 3700X and a GTX 970, so the processing power should not be the issue