[Jeremy]

Hi,

I think this example of code from our documentation could help you:

Code:

# Turn off rendering (faster)
RDK.Render(False)
prog = RDK.AddProgram('AutoProgram')

# Hide program instructions (optional, but faster)
prog.ShowInstructions(False)

# Retrieve the current robot position:
pose_ref = robot.Pose()

# Iterate through a number of points
for i in range(len(POINTS)):
# add a new target
ti = RDK.AddTarget('Auto Target %i' % (i+1))

# use the reference pose and update the XYZ position
pose_ref.setPos(POINTS[i])
ti.setPose(pose_ref)

# force to use the target as a Cartesian target (default)
ti.setAsCartesianTarget()

# Add the target as a Linear/Joint move in the new program
prog.MoveL (ti)

# Hide the target items from the tree: it each movement still keeps its own target.
# Right click the movement instruction and select "Select Target" to see the target in the tree
program.ShowTargets(False)

# Turn rendering ON before starting the simulation (automatic if we are done)
RDK.Render(True)

Jeremy