From 8285ce4a52e16fc1c92c5cb50475f7cf8df67999 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Wed, 15 Jul 2026 00:46:36 +0200
Subject: [PATCH 01/28] Added collision tests

---
 PluginExample/pluginexample.cpp | 29 +++++++++++++++++++++++++----
 1 file changed, 25 insertions(+), 4 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index 4a7a8b2..f290bdc 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -15,6 +15,7 @@
 #include <QDateTime>
 #include <QIcon>
 #include <QDesktopServices>
+#include <QElapsedTimer>
 
 //------------------------------- RoboDK Plug-in commands ------------------------------
 
@@ -319,8 +320,7 @@ void PluginExample::callback_information(){
     QString text_message_html("<strong>Plugin Timing Tests Summary on " + QDateTime::currentDateTime().toString() + ":</strong><br>");
 
     int ntests=10000;
-    //Item robot = RDK->getItem("", IItem::ITEM_TYPE_ROBOT);
-    Item robot = RDK->ItemUserPick("Pick a robot", IItem::ITEM_TYPE_ROBOT);
+    Item robot = RDK->ItemUserPick("Select a robot arm", IItem::ITEM_TYPE_ROBOT_ARM);
     if (ItemValid(robot)){
         Mat pose_fk;
         tJoints joints_ik;
@@ -353,11 +353,28 @@ void PluginExample::callback_information(){
         }
         tend = QDateTime::currentMSecsSinceEpoch();
         text_message_html += "<br>" + QString("Inverse Kinematics: %1 micro seconds (all solutions)").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
+
+        // Test Collisions for each inverse kinematics solution, less samples but more accurate timer (nano second accuracy)
+        QElapsedTimer timer;
+        timer.start();
+        int nJoints = joints_ik_all.length();
+        for (int i=0; i<nJoints; i++){
+            robot->setJoints(joints_ik_all.at(i));
+            RDK->Render(IRoboDK::RenderUpdateOnly);
+            RDK->Collisions();
+        }
+        double ms_collisions = (1e-6 * timer.nsecsElapsed())/nJoints;
+        double samples_x_sec = 1000.0/ms_collisions;
+        qDebug() << "ms per collision: " << ms_collisions;
+        qDebug() << "Collision samples per second: " << samples_x_sec;
+
+        text_message_html += "<br>" + QString("Collision check: %1 milliseconds/sample (samples: %2)").arg(ms_collisions, 0, 'f', 2).arg(nJoints);
+        text_message_html += "<br>" + QString("Collision check: %1 samples/sec").arg(samples_x_sec, 0, 'f', 2);
+
     } else {
         text_message_html += + "<br>No robot available to run Kinematic tests";
     }
 
-
     // output through debug console
     qDebug() << text_message_html;
 
@@ -385,7 +402,11 @@ void PluginExample::callback_information(){
     QTextEdit *text_editor = new QTextEdit("Plugin timing summary");
     text_editor->setHtml(text_message_html);
 
-    AddDockWidget(MainWindow, text_editor, "Dock Plugin timing summary");
+    static QDockWidget *dockedInfo = nullptr;
+    if (dockedInfo != nullptr){
+        dockedInfo->deleteLater();
+    }
+    dockedInfo = AddDockWidget(MainWindow, text_editor, "Dock Plugin timing summary");
 }
 
 void PluginExample::callback_robotpilot(){

From 0e3cc459e0c4b9a7b79b9834aa1486636c415b86 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Wed, 15 Jul 2026 01:02:36 +0200
Subject: [PATCH 02/28] bug fixes

---
 CLAUDE.md                        |  8 ++++++--
 PluginExample/formrobotpilot.cpp |  9 +++++++--
 PluginExample/formrobotpilot.h   |  3 ++-
 PluginExample/pluginexample.cpp  | 14 +++++++++++---
 4 files changed, 26 insertions(+), 8 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 11dcc13..3c901ab 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -24,7 +24,11 @@ make
 
 To build a single plugin, run qmake/make inside its subdirectory (e.g., `PluginExample/PluginExample.pro`).
 
-There are no automated tests — plugins are tested manually by loading them in RoboDK via **Tools → Plug-Ins**.
+There are no automated tests — plugins are tested manually by loading them in RoboDK via **Tools → Plug-Ins**, or faster, by launching RoboDK with a command-line flag:
+```bash
+RoboDK.exe -PLUGINSLOAD                                      # start with all available plugins loaded
+RoboDK.exe -PLUGINLOAD=C:/RoboDK/bin/plugins/pluginexample.dll   # load one plugin on the fly
+```
 
 ## Qt Version Requirements
 
@@ -79,7 +83,7 @@ PluginXxx/
 
 ### Add-in Apps (`PluginAppLoader/Apps/`)
 
-Python-based apps loaded via the `PluginAppLoader` C++ plugin. Each app in its own subdirectory follows the same `IAppRoboDK` interface conventions but runs as Python scripts rather than compiled DLLs.
+Python-based apps loaded via the `PluginAppLoader` C++ plugin (built in separately, always enabled in RoboDK but disabled by default). Each app is a subfolder; every `.py` script inside becomes a menu item/toolbar button, and an `AppConfig.ini` (auto-generated on first load) controls menu placement, icons, and shortcuts. Package an app folder into a distributable `.rdkp` with `PluginAppLoader/Apps/PackageCreate.py` (or `PackageCreateOne.py` for a single app).
 
 ### Robot Extensions (`robotextensions/samplekinematics/`)
 
diff --git a/PluginExample/formrobotpilot.cpp b/PluginExample/formrobotpilot.cpp
index 22f2334..963f99a 100644
--- a/PluginExample/formrobotpilot.cpp
+++ b/PluginExample/formrobotpilot.cpp
@@ -29,10 +29,15 @@ FormRobotPilot::~FormRobotPilot(){
 }
 
 void FormRobotPilot::on_btnSelectRobot_clicked(){
-    SelectRobot();
+    SelectRobot(true);
 }
 
-bool FormRobotPilot::SelectRobot(){
+bool FormRobotPilot::SelectRobot(bool force_selection){
+    if (!force_selection && RDK->Valid(Robot)){
+        // a valid robot is already selected: avoid prompting on every jog move
+        return true;
+    }
+
     QList<Item> all_robots = RDK->getItemList(IItem::ITEM_TYPE_ROBOT);
     if (all_robots.length() == 0){
         ui->lblRobot->setText("Load a robot");
diff --git a/PluginExample/formrobotpilot.h b/PluginExample/formrobotpilot.h
index d06ee9c..d98dd6b 100644
--- a/PluginExample/formrobotpilot.h
+++ b/PluginExample/formrobotpilot.h
@@ -22,8 +22,9 @@ class FormRobotPilot : public QWidget
     ~FormRobotPilot();
 
     /// \brief Select a robot in the Robot variable
+    /// \param force_selection Set to true to always prompt the selection dialog, even if a valid robot is already selected
     /// \return True if a robot was properly retrieved
-    bool SelectRobot();
+    bool SelectRobot(bool force_selection = false);
 
     /// \brief IncrementalMove
     /// \param id Joint id or cartesian move id [x,y,z,r,p,w]
diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index f290bdc..c2709e1 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -75,6 +75,14 @@ void PluginExample::PluginUnload(){
     toolbar1->deleteLater();
     toolbar1 = nullptr;
 
+    // remove the actions (not owned by the menu/toolbar, so they are not deleted automatically)
+    action_information->deleteLater();
+    action_information = nullptr;
+    action_robotpilot->deleteLater();
+    action_robotpilot = nullptr;
+    action_help->deleteLater();
+    action_help = nullptr;
+
     if (dock_robotpilot != nullptr){
         dock_robotpilot->close();
         dock_robotpilot = nullptr;
@@ -328,7 +336,7 @@ void PluginExample::callback_information(){
         qint64 tstart;
         qint64 tend;
 
-        text_message_html += + "<br>" + QString("Using robot %1").arg(robot->Name());
+        text_message_html += "<br>" + QString("Using robot %1").arg(robot->Name());
 
         // Test Forward Kinematics
         tstart = QDateTime::currentMSecsSinceEpoch();
@@ -336,7 +344,7 @@ void PluginExample::callback_information(){
             pose_fk = robot->SolveFK(robot->Joints());
         }
         tend = QDateTime::currentMSecsSinceEpoch();
-        text_message_html += + "<br>" + QString("Forward Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
+        text_message_html += "<br>" + QString("Forward Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
 
         // Test Inverse Kinematics
         tstart = QDateTime::currentMSecsSinceEpoch();
@@ -372,7 +380,7 @@ void PluginExample::callback_information(){
         text_message_html += "<br>" + QString("Collision check: %1 samples/sec").arg(samples_x_sec, 0, 'f', 2);
 
     } else {
-        text_message_html += + "<br>No robot available to run Kinematic tests";
+        text_message_html += "<br>No robot available to run Kinematic tests";
     }
 
     // output through debug console

From c6a1a1654b068e26da64bf4ed4b771a1ff0c6aad Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Wed, 15 Jul 2026 01:21:45 +0200
Subject: [PATCH 03/28] improved presentation of results

---
 PluginExample/pluginexample.cpp | 82 ++++++++++++++++++++++-----------
 1 file changed, 54 insertions(+), 28 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index c2709e1..5dc62f2 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -9,6 +9,7 @@
 #include <QToolBar>
 #include <QDebug>
 #include <QAction>
+#include <QKeySequence>
 #include <QStatusBar>
 #include <QMenuBar>
 #include <QTextEdit>
@@ -41,6 +42,7 @@ QString PluginExample::PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar
 
     // Here you can add all the "Actions": these actions are callbacks from buttons selected from the menu or the toolbar
     action_information = new QAction(QIcon(":/resources/information.png"), tr("Plugin Speed Information"));
+    action_information->setShortcut(QKeySequence("Ctrl+I"));
     action_robotpilot = new QAction(QIcon(":/resources/code.png"), tr("Robot Pilot Form"));
     action_help = new QAction(QIcon(":/resources/help.png"), tr("RoboDK Plugins - Help"));
     // Make sure to connect the action to your callback (slot)
@@ -321,11 +323,21 @@ void PluginExample::PluginEvent(TypeEvent event_type) {
 //----------------------------------------------------------------------------------
 // Define your own button callbacks here
 
+// Formats one row of the benchmark table (metric name + measured value)
+static QString BenchmarkRowHtml(const QString &metric, const QString &value){
+    return QString("<tr><td style=\"padding:4px 12px 4px 4px;\">%1</td>"
+                    "<td style=\"padding:4px;font-family:monospace;text-align:right;\">%2</td></tr>")
+            .arg(metric.toHtmlEscaped(), value.toHtmlEscaped());
+}
+
 void PluginExample::callback_information(){
 
     // Perform some timing tests using the RoboDK API
     RDK->ShowMessage("Starting timing tests", false);
-    QString text_message_html("<strong>Plugin Timing Tests Summary on " + QDateTime::currentDateTime().toString() + ":</strong><br>");
+
+    QString text_message_html;
+    text_message_html += "<h2 style=\"margin-bottom:2px;\">Plugin Timing Tests Summary</h2>";
+    text_message_html += QString("<p style=\"margin-top:0;font-weight:bold;\">%1</p>").arg(QDateTime::currentDateTime().toString());
 
     int ntests=10000;
     Item robot = RDK->ItemUserPick("Select a robot arm", IItem::ITEM_TYPE_ROBOT_ARM);
@@ -333,54 +345,65 @@ void PluginExample::callback_information(){
         Mat pose_fk;
         tJoints joints_ik;
         QList<tJoints> joints_ik_all;
-        qint64 tstart;
-        qint64 tend;
+        QElapsedTimer timer;
 
-        text_message_html += "<br>" + QString("Using robot %1").arg(robot->Name());
+        QString benchmark_rows;
+        benchmark_rows += BenchmarkRowHtml("Robot", robot->Name());
 
-        // Test Forward Kinematics
-        tstart = QDateTime::currentMSecsSinceEpoch();
+        // Test Forward Kinematics (QElapsedTimer gives nanosecond resolution, unlike QDateTime's millisecond ticks)
+        timer.start();
         for (int i=0; i<ntests; i++){
             pose_fk = robot->SolveFK(robot->Joints());
         }
-        tend = QDateTime::currentMSecsSinceEpoch();
-        text_message_html += "<br>" + QString("Forward Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
+        benchmark_rows += BenchmarkRowHtml("Forward Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed())/ntests, 0, 'f', 2));
 
         // Test Inverse Kinematics
-        tstart = QDateTime::currentMSecsSinceEpoch();
+        timer.start();
         for (int i=0; i<ntests; i++){
             joints_ik = robot->SolveIK(pose_fk);
         }
-        tend = QDateTime::currentMSecsSinceEpoch();
-        text_message_html += "<br>" + QString("Inverse Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
+        benchmark_rows += BenchmarkRowHtml("Inverse Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed())/ntests, 0, 'f', 2));
 
         // Test Forward Kinematics
-        tstart = QDateTime::currentMSecsSinceEpoch();
+        timer.start();
         for (int i=0; i<ntests; i++){
             joints_ik_all = robot->SolveIK_All(pose_fk);
         }
-        tend = QDateTime::currentMSecsSinceEpoch();
-        text_message_html += "<br>" + QString("Inverse Kinematics: %1 micro seconds (all solutions)").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
+        benchmark_rows += BenchmarkRowHtml("Inverse Kinematics (all solutions)", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed())/ntests, 0, 'f', 2));
 
         // Test Collisions for each inverse kinematics solution, less samples but more accurate timer (nano second accuracy)
-        QElapsedTimer timer;
         timer.start();
         int nJoints = joints_ik_all.length();
+        int nWithCollisions = 0;
+        int nWithoutCollisions = 0;
         for (int i=0; i<nJoints; i++){
             robot->setJoints(joints_ik_all.at(i));
             RDK->Render(IRoboDK::RenderUpdateOnly);
-            RDK->Collisions();
+            int nCollisions = RDK->Collisions();
+            if (nCollisions > 0){
+                nWithCollisions++;
+            } else {
+                nWithoutCollisions++;
+            }
         }
         double ms_collisions = (1e-6 * timer.nsecsElapsed())/nJoints;
         double samples_x_sec = 1000.0/ms_collisions;
         qDebug() << "ms per collision: " << ms_collisions;
         qDebug() << "Collision samples per second: " << samples_x_sec;
 
-        text_message_html += "<br>" + QString("Collision check: %1 milliseconds/sample (samples: %2)").arg(ms_collisions, 0, 'f', 2).arg(nJoints);
-        text_message_html += "<br>" + QString("Collision check: %1 samples/sec").arg(samples_x_sec, 0, 'f', 2);
+        benchmark_rows += BenchmarkRowHtml(QString("Collision check (%1 samples)").arg(nJoints), QString("%1 ms/sample").arg(ms_collisions, 0, 'f', 2));
+        benchmark_rows += BenchmarkRowHtml("Collision check throughput", QString("%1 samples/sec").arg(samples_x_sec, 0, 'f', 2));
+        benchmark_rows += BenchmarkRowHtml("Points with collisions", QString::number(nWithCollisions));
+        benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nWithoutCollisions));
+
+        text_message_html += "<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
+                              "<tr style=\"background-color:#dde5f0;\">"
+                              "<th style=\"padding:4px;text-align:left;\">Metric</th>"
+                              "<th style=\"padding:4px;text-align:right;\">Value</th></tr>"
+                              + benchmark_rows + "</table>";
 
     } else {
-        text_message_html += "<br>No robot available to run Kinematic tests";
+        text_message_html += "<p><i>No robot available to run Kinematic tests</i></p>";
     }
 
     // output through debug console
@@ -394,20 +417,23 @@ void PluginExample::callback_information(){
     QList<Item> item_list = RDK->getItemList();
 
     RDK->ShowMessage("Displaying list of station items", false);
-    text_message_html += QString("<br>Open station <strong>%1</strong> items:").arg(RDK->getActiveStation()->Name());
+    text_message_html += QString("<h3 style=\"margin-bottom:2px;\">Open station: %1</h3>").arg(RDK->getActiveStation()->Name().toHtmlEscaped());
+    text_message_html += "<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
+                          "<tr style=\"background-color:#dde5f0;\">"
+                          "<th style=\"padding:4px;text-align:left;\">Item</th>"
+                          "<th style=\"padding:4px;text-align:left;\">Parent</th></tr>";
     foreach (Item itm, item_list){
         Item item_parent = itm->Parent();
-        if (!ItemValid(item_parent)){
-            // station items do not have a parent
-            text_message_html += QString("<br>%1 (station)").arg(itm->Name());
-        } else {
-            text_message_html += QString("<br>%1 -> <i>parent: %2</i>").arg(itm->Name()).arg(item_parent->Name());
-        }
-
+        QString parent_text = ItemValid(item_parent) ? item_parent->Name() : tr("(station)");
+        text_message_html += QString("<tr><td style=\"padding:2px 12px 2px 4px;\">%1</td>"
+                                      "<td style=\"padding:2px;font-weight:bold;\"><i>%2</i></td></tr>")
+                .arg(itm->Name().toHtmlEscaped(), parent_text.toHtmlEscaped());
     }
+    text_message_html += "</table>";
 
 
-    QTextEdit *text_editor = new QTextEdit("Plugin timing summary");
+    QTextEdit *text_editor = new QTextEdit();
+    text_editor->setReadOnly(true);
     text_editor->setHtml(text_message_html);
 
     static QDockWidget *dockedInfo = nullptr;

From 74a0a308e99c1810501eecfdd599ade2d7f30bb9 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Wed, 15 Jul 2026 18:28:23 +0200
Subject: [PATCH 04/28] Adding python tests

---
 PluginExample/performance_tests.py | 63 ++++++++++++++++++++++++++++++
 PluginExample/pluginexample.cpp    | 15 +++----
 2 files changed, 71 insertions(+), 7 deletions(-)
 create mode 100644 PluginExample/performance_tests.py

diff --git a/PluginExample/performance_tests.py b/PluginExample/performance_tests.py
new file mode 100644
index 0000000..53ce632
--- /dev/null
+++ b/PluginExample/performance_tests.py
@@ -0,0 +1,63 @@
+# Run some performance tests of RoboDK using the RoboDK API for Python
+
+# You can also use the new version of the API:
+from robodk import robolink    # RoboDK API
+from robodk import robomath    # Robot toolbox
+import random
+import time
+
+# Start the RoboDK API
+RDK = robolink.Robolink()
+
+robot = RDK.Item("", robolink.ITEM_TYPE_ROBOT_ARM)
+
+print(robot.Name())
+
+# Retrieve the joint limits as a list to retrieve random sets of robot joints
+j_low, j_high, _ = robot.JointLimits()
+j_low = j_low.list()
+j_high = j_high.list()
+def joints_rand():
+    return [random.uniform(l, h) for l, h in zip(j_low, j_high)]
+
+# TODO: Implement tests of the SolveFK function (robot.SolveFK on random joints)
+# run robot.SolveFK(randomjoints) multiple times
+
+# TODO: Implement tests of the SolveIK function (robot.SolveIK on random joints)
+# run robot.SolveFK(randomjoints) multiple times
+
+
+
+# TODO: Implement tests of
+
+# Program example:
+t_start = time.time()
+t_check = t_start + 4
+count = 0
+
+# Turn off automatic rendering (usualy immediately after a call that updates the scene)
+RDK.Render(False)
+# Turn collisions off on each setJoints, we'll retrieve the collision status using Collisions()
+RDK.setCollisionActive(robolink.COLLISION_OFF)
+while time.time() < t_check:
+    joints = joints_rand()
+    robot.setJoints(joints)
+
+    # Provokes an update to refresh the position of every robot, tool, object in the scene without rendering
+    RDK.Update()
+
+    # Calculate collisions
+    # TODO: Collect number of collisions and show the report of the number of times a collision was found vs not found
+    print(RDK.Collisions())
+
+    count = count + 1
+
+t_end = time.time()
+
+# Show metrics
+# TODO: Improve presentation of the results to include:
+# collision check time (per sample or call to RDK.Collisions())
+# Collision rate per second (samples per second)
+t_delta = t_end - t_start
+print(t_delta)
+print(count/t_delta)
diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index 5dc62f2..69832c1 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -372,6 +372,7 @@ void PluginExample::callback_information(){
         benchmark_rows += BenchmarkRowHtml("Inverse Kinematics (all solutions)", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed())/ntests, 0, 'f', 2));
 
         // Test Collisions for each inverse kinematics solution, less samples but more accurate timer (nano second accuracy)
+        RDK->Collisions(); // Run one time first, the first time it needs to run additional calculations for all loaded objects if collision check was not on already
         timer.start();
         int nJoints = joints_ik_all.length();
         int nWithCollisions = 0;
@@ -392,14 +393,14 @@ void PluginExample::callback_information(){
         qDebug() << "Collision samples per second: " << samples_x_sec;
 
         benchmark_rows += BenchmarkRowHtml(QString("Collision check (%1 samples)").arg(nJoints), QString("%1 ms/sample").arg(ms_collisions, 0, 'f', 2));
-        benchmark_rows += BenchmarkRowHtml("Collision check throughput", QString("%1 samples/sec").arg(samples_x_sec, 0, 'f', 2));
+        benchmark_rows += BenchmarkRowHtml("Collision check rate", QString("%1 samples/sec").arg(samples_x_sec, 0, 'f', 2));
         benchmark_rows += BenchmarkRowHtml("Points with collisions", QString::number(nWithCollisions));
         benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nWithoutCollisions));
 
         text_message_html += "<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
-                              "<tr style=\"background-color:#dde5f0;\">"
-                              "<th style=\"padding:4px;text-align:left;\">Metric</th>"
-                              "<th style=\"padding:4px;text-align:right;\">Value</th></tr>"
+                              "<tr>"
+                              "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Metric</th>"
+                              "<th style=\"padding:4px;text-align:right;font-weight:bold;\">Value</th></tr>"
                               + benchmark_rows + "</table>";
 
     } else {
@@ -419,9 +420,9 @@ void PluginExample::callback_information(){
     RDK->ShowMessage("Displaying list of station items", false);
     text_message_html += QString("<h3 style=\"margin-bottom:2px;\">Open station: %1</h3>").arg(RDK->getActiveStation()->Name().toHtmlEscaped());
     text_message_html += "<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
-                          "<tr style=\"background-color:#dde5f0;\">"
-                          "<th style=\"padding:4px;text-align:left;\">Item</th>"
-                          "<th style=\"padding:4px;text-align:left;\">Parent</th></tr>";
+                          "<tr>"
+                          "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Item</th>"
+                          "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Parent</th></tr>";
     foreach (Item itm, item_list){
         Item item_parent = itm->Parent();
         QString parent_text = ItemValid(item_parent) ? item_parent->Name() : tr("(station)");

From adee08e6a2a3c6b7e6f796263cb21524c110d347 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Wed, 15 Jul 2026 19:42:04 +0200
Subject: [PATCH 05/28] Improved benchmark for Python, C++ WIP

---
 PluginExample/performance_tests.py | 205 ++++++++++++++++++++---------
 PluginExample/pluginexample.cpp    |  20 +++
 2 files changed, 162 insertions(+), 63 deletions(-)

diff --git a/PluginExample/performance_tests.py b/PluginExample/performance_tests.py
index 53ce632..14dfde8 100644
--- a/PluginExample/performance_tests.py
+++ b/PluginExample/performance_tests.py
@@ -1,63 +1,142 @@
-# Run some performance tests of RoboDK using the RoboDK API for Python
-
-# You can also use the new version of the API:
-from robodk import robolink    # RoboDK API
-from robodk import robomath    # Robot toolbox
-import random
-import time
-
-# Start the RoboDK API
-RDK = robolink.Robolink()
-
-robot = RDK.Item("", robolink.ITEM_TYPE_ROBOT_ARM)
-
-print(robot.Name())
-
-# Retrieve the joint limits as a list to retrieve random sets of robot joints
-j_low, j_high, _ = robot.JointLimits()
-j_low = j_low.list()
-j_high = j_high.list()
-def joints_rand():
-    return [random.uniform(l, h) for l, h in zip(j_low, j_high)]
-
-# TODO: Implement tests of the SolveFK function (robot.SolveFK on random joints)
-# run robot.SolveFK(randomjoints) multiple times
-
-# TODO: Implement tests of the SolveIK function (robot.SolveIK on random joints)
-# run robot.SolveFK(randomjoints) multiple times
-
-
-
-# TODO: Implement tests of
-
-# Program example:
-t_start = time.time()
-t_check = t_start + 4
-count = 0
-
-# Turn off automatic rendering (usualy immediately after a call that updates the scene)
-RDK.Render(False)
-# Turn collisions off on each setJoints, we'll retrieve the collision status using Collisions()
-RDK.setCollisionActive(robolink.COLLISION_OFF)
-while time.time() < t_check:
-    joints = joints_rand()
-    robot.setJoints(joints)
-
-    # Provokes an update to refresh the position of every robot, tool, object in the scene without rendering
-    RDK.Update()
-
-    # Calculate collisions
-    # TODO: Collect number of collisions and show the report of the number of times a collision was found vs not found
-    print(RDK.Collisions())
-
-    count = count + 1
-
-t_end = time.time()
-
-# Show metrics
-# TODO: Improve presentation of the results to include:
-# collision check time (per sample or call to RDK.Collisions())
-# Collision rate per second (samples per second)
-t_delta = t_end - t_start
-print(t_delta)
-print(count/t_delta)
+# Run some performance tests of RoboDK using the RoboDK API for Python
+
+# You can also use the new version of the API:
+from robodk import robolink    # RoboDK API
+from robodk import robomath    # Robot toolbox
+import random
+import time
+import platform
+import os
+
+robolink.import_install("psutil")
+
+# Detailed CPU frequency/usage and RAM stats need psutil (pip install psutil).
+# Without it we still report what the standard library exposes (CPU name and logical core count).
+try:
+    import psutil
+    HAS_PSUTIL = True
+except ImportError:
+    HAS_PSUTIL = False
+
+
+def print_hardware_info():
+    """Print CPU and RAM information about this PC."""
+    print("---- Hardware information ----")
+    print("OS: %s %s (%s)" % (platform.system(), platform.release(), platform.machine()))
+    print("CPU: %s" % (platform.processor() or platform.machine()))
+    print("CPU cores (logical): %s" % os.cpu_count())
+
+    if HAS_PSUTIL:
+        print("CPU cores (physical): %s" % psutil.cpu_count(logical=False))
+        try:
+            # Not implemented by psutil on some platforms (e.g. Apple Silicon Macs)
+            freq = psutil.cpu_freq()
+        except Exception:
+            freq = None
+        if freq:
+            print("CPU frequency: %.0f MHz (max: %.0f MHz)" % (freq.current, freq.max))
+        print("CPU usage: %.1f %%" % psutil.cpu_percent(interval=0.1))
+        mem = psutil.virtual_memory()
+        print("RAM total: %.2f GB" % (mem.total / (1024 ** 3)))
+        print("RAM available: %.2f GB (%.1f %% used)" % (mem.available / (1024 ** 3), mem.percent))
+    else:
+        print("Tip: install 'psutil' (pip install psutil) to also report CPU frequency/usage and RAM size.")
+    print("-------------------------------")
+
+
+print_hardware_info()
+
+# Start the RoboDK API
+RDK = robolink.Robolink()
+
+robot = RDK.Item("", robolink.ITEM_TYPE_ROBOT_ARM)
+
+print("Using robot: %s" % robot.Name())
+
+# Retrieve the joint limits as a list to retrieve random sets of robot joints
+j_low, j_high, _ = robot.JointLimits()
+j_low = j_low.list()
+j_high = j_high.list()
+def joints_rand():
+    jnts = [random.uniform(l, h) for l, h in zip(j_low, j_high)]
+    return jnts
+
+
+def run_benchmark(name, func, n_tests=10000):
+    """Run func() n_tests times and print the average time per call, in microseconds."""
+    t_start = time.perf_counter()
+    for _ in range(n_tests):
+        func()
+    t_end = time.perf_counter()
+    t_avg_us = (t_end - t_start) * 1e6 / n_tests
+    print("%s: %.3f microseconds/call (%d samples)" % (name, t_avg_us, n_tests))
+    return t_avg_us
+
+
+def solve_fk_once():
+    """Compute the forward kinematics for a random set of joints. Some random joints
+    can be unreachable/singular and make SolveFK raise an exception: skip those samples."""
+    try:
+        return robot.SolveFK(joints_rand())
+    except Exception:
+        return None
+
+
+def solve_ik_once(pose):
+    """Compute the inverse kinematics for a given pose. Some poses can be unreachable
+    and make SolveIK raise an exception: skip those samples."""
+    try:
+        return robot.SolveIK(pose)
+    except Exception:
+        return None
+
+
+print("\n---- Kinematics performance ----")
+
+# Test the SolveFK function (robot.SolveFK on random joints)
+run_benchmark("Forward Kinematics (SolveFK)", solve_fk_once)
+
+# Test the SolveIK function (robot.SolveIK on random joints)
+pose_fk = robot.SolveFK(joints_rand())
+run_benchmark("Inverse Kinematics (SolveIK)", lambda: solve_ik_once(pose_fk))
+
+
+# Test collisions: run for a fixed amount of time and collect statistics
+print("\n---- Collision check performance ----")
+
+t_start = time.perf_counter()
+t_check = t_start + 4
+count = 0
+n_with_collision = 0
+n_without_collision = 0
+
+# Turn off automatic rendering (usualy immediately after a call that updates the scene)
+RDK.Render(False)
+# Turn collisions off on each setJoints, we'll retrieve the collision status using Collisions()
+RDK.setCollisionActive(robolink.COLLISION_OFF)
+while time.perf_counter() < t_check:
+    joints = joints_rand()
+    robot.setJoints(joints)
+
+    # Provokes an update to refresh the position of every robot, tool, object in the scene without rendering
+    RDK.Update()
+
+    # Calculate collisions and collect how many samples were in collision vs not
+    n_collisions = RDK.Collisions()
+    if n_collisions > 0:
+        n_with_collision += 1
+    else:
+        n_without_collision += 1
+
+    count = count + 1
+
+t_end = time.perf_counter()
+
+# Show metrics
+t_delta = t_end - t_start
+print("Total samples: %d" % count)
+print("Total time: %.3f s" % t_delta)
+print("Collision check time: %.3f ms/sample" % ((t_delta / count) * 1e3))
+print("Collision check throughput: %.2f samples/sec" % (count / t_delta))
+print("Samples with collisions (nCollisions>0): %d" % n_with_collision)
+print("Samples without collisions (nCollisions<=0): %d" % n_without_collision)
diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index 69832c1..813403e 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -403,6 +403,24 @@ void PluginExample::callback_information(){
                               "<th style=\"padding:4px;text-align:right;font-weight:bold;\">Value</th></tr>"
                               + benchmark_rows + "</table>";
 
+
+        // TODO: Test collisions for the joint lists of a program and perform similar metrics as done in the previous step
+        Item program = RDK->ItemUserPick("Select a program to run a check for collisions", IItem::ITEM_TYPE_PROGRAM);
+        QString err_msg;
+        tMatrix2D *list_joints; // TODO: create object
+        program->InstructionListJoints(&err_msg, list_joints, 1, 1, IRoboDK::COLLISION_OFF, 0, -1);
+        // For each joint in list_joints calculate collisions and calculate if a collision was found
+        for (){
+            robot->setJoints(list_joints.at(i));
+            RDK->Render(IRoboDK::RenderUpdateOnly);
+            int nCollisions = RDK->Collisions();
+            if (nCollisions > 0){
+                nWithCollisions++;
+            } else {
+                nWithoutCollisions++;
+            }
+        }
+
     } else {
         text_message_html += "<p><i>No robot available to run Kinematic tests</i></p>";
     }
@@ -423,6 +441,8 @@ void PluginExample::callback_information(){
                           "<tr>"
                           "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Item</th>"
                           "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Parent</th></tr>";
+
+
     foreach (Item itm, item_list){
         Item item_parent = itm->Parent();
         QString parent_text = ItemValid(item_parent) ? item_parent->Name() : tr("(station)");

From a8e8adea2145ac066099e8180f1d581febd5e8b2 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Wed, 15 Jul 2026 23:13:11 +0200
Subject: [PATCH 06/28] renamed main action and commented tree

---
 PluginExample/pluginexample.cpp | 9 ++++++---
 PluginExample/pluginexample.h   | 4 ++--
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index 813403e..32a406b 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -46,7 +46,7 @@ QString PluginExample::PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar
     action_robotpilot = new QAction(QIcon(":/resources/code.png"), tr("Robot Pilot Form"));
     action_help = new QAction(QIcon(":/resources/help.png"), tr("RoboDK Plugins - Help"));
     // Make sure to connect the action to your callback (slot)
-    connect(action_information, SIGNAL(triggered()), this, SLOT(callback_information()), Qt::QueuedConnection);
+    connect(action_information, SIGNAL(triggered()), this, SLOT(callback_benchmarkInfo()), Qt::QueuedConnection);
     connect(action_robotpilot, SIGNAL(triggered()), this, SLOT(callback_robotpilot()), Qt::QueuedConnection);
     connect(action_help, SIGNAL(triggered()), this, SLOT(callback_help()), Qt::QueuedConnection);
 
@@ -130,7 +130,7 @@ bool PluginExample::PluginItemClick(Item item, QMenu *menu, TypeClick click_type
 QString PluginExample::PluginCommand(const QString &command, const QString &value){
     qDebug() << "Sent command: " << command << "    With value: " << value;
     if (command.compare("Information", Qt::CaseInsensitive) == 0){
-        callback_information();
+        callback_benchmarkInfo();
         return "Done";
     } else if (command.compare("RobotPilot", Qt::CaseInsensitive) == 0){
         callback_robotpilot();
@@ -330,7 +330,7 @@ static QString BenchmarkRowHtml(const QString &metric, const QString &value){
             .arg(metric.toHtmlEscaped(), value.toHtmlEscaped());
 }
 
-void PluginExample::callback_information(){
+void PluginExample::callback_benchmarkInfo(){
 
     // Perform some timing tests using the RoboDK API
     RDK->ShowMessage("Starting timing tests", false);
@@ -429,6 +429,8 @@ void PluginExample::callback_information(){
     qDebug() << text_message_html;
 
 
+    // Example to retrieve station items ans show their dependency:
+    /*
     RDK->ShowMessage("Retrieving all station items", false);
     QStringList item_list_names = RDK->getItemListNames();
     qDebug() << "Available items in the current station: " << item_list_names;
@@ -451,6 +453,7 @@ void PluginExample::callback_information(){
                 .arg(itm->Name().toHtmlEscaped(), parent_text.toHtmlEscaped());
     }
     text_message_html += "</table>";
+*/
 
 
     QTextEdit *text_editor = new QTextEdit();
diff --git a/PluginExample/pluginexample.h b/PluginExample/pluginexample.h
index ad20961..c89301d 100644
--- a/PluginExample/pluginexample.h
+++ b/PluginExample/pluginexample.h
@@ -57,7 +57,7 @@ public slots:
     // define button callbacks (or slots) here. They are triggered automatically when the button is selected.
 
     /// Called when the information button/action is selected
-    void callback_information();
+    void callback_benchmarkInfo();
 
     /// Called when the robot pilot button/action is selected
     void callback_robotpilot();
@@ -76,7 +76,7 @@ public slots:
     /// Pointer to the customized menu
     QMenu *menu1;
 
-    /// Information action. callback_information is triggered with this action. Actions are required to populate toolbars and menus and allows getting callbacks.
+    /// Information action. callback_benchmarkInfo is triggered with this action. Actions are required to populate toolbars and menus and allows getting callbacks.
     QAction *action_information;
 
     /// Open robot pilot form action. callback_robotpilot is triggered with this action. Actions are required to populate toolbars and menus and allows getting callbacks.

From 02d1a3f63a81a44f4dad1aefa5d45041b36cf44e Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Thu, 16 Jul 2026 13:15:27 +0200
Subject: [PATCH 07/28] Improved formatting and added program check

---
 PluginExample/formrobotpilot.cpp |  90 ++++++++---------
 PluginExample/pluginexample.cpp  | 160 +++++++++++++++----------------
 PluginExample/pluginexample.h    |  21 ++--
 3 files changed, 128 insertions(+), 143 deletions(-)

diff --git a/PluginExample/formrobotpilot.cpp b/PluginExample/formrobotpilot.cpp
index 963f99a..0c673b1 100644
--- a/PluginExample/formrobotpilot.cpp
+++ b/PluginExample/formrobotpilot.cpp
@@ -2,11 +2,9 @@
 #include "ui_formrobotpilot.h"
 
 FormRobotPilot::FormRobotPilot(RoboDK *rdk, QWidget *parent) : QWidget(parent),
-    ui(new Ui::FormRobotPilot)
-{
-    // keep the pointer to RoboDK
-    RDK = rdk;
-    Robot = nullptr;
+    ui(new Ui::FormRobotPilot),
+    RDK(rdk),
+    Robot(nullptr) {
 
     // Create the window
     ui->setupUi(this);
@@ -24,22 +22,22 @@ FormRobotPilot::FormRobotPilot(RoboDK *rdk, QWidget *parent) : QWidget(parent),
     SelectRobot();
 }
 
-FormRobotPilot::~FormRobotPilot(){
+FormRobotPilot::~FormRobotPilot() {
     delete ui;
 }
 
-void FormRobotPilot::on_btnSelectRobot_clicked(){
+void FormRobotPilot::on_btnSelectRobot_clicked() {
     SelectRobot(true);
 }
 
-bool FormRobotPilot::SelectRobot(bool force_selection){
-    if (!force_selection && RDK->Valid(Robot)){
+bool FormRobotPilot::SelectRobot(bool force_selection) {
+    if (!force_selection && RDK->Valid(Robot)) {
         // a valid robot is already selected: avoid prompting on every jog move
         return true;
     }
 
     QList<Item> all_robots = RDK->getItemList(IItem::ITEM_TYPE_ROBOT);
-    if (all_robots.length() == 0){
+    if (all_robots.length() == 0) {
         ui->lblRobot->setText("Load a robot");
         RDK->ShowMessage("Select File-Open to load a robot or a RoboDK station", false);
         //QString file = QFileDialog::getOpenFilename()
@@ -57,9 +55,7 @@ bool FormRobotPilot::SelectRobot(bool force_selection){
     return robot_is_selected;
 }
 
-
-
-void FormRobotPilot::setup_btn_joints(){
+void FormRobotPilot::setup_btn_joints() {
     ui->btnTXn->setText("J1-");
     ui->btnTXp->setText("J1+");
     ui->btnTYn->setText("J2-");
@@ -73,7 +69,8 @@ void FormRobotPilot::setup_btn_joints(){
     ui->btnRZn->setText("J6-");
     ui->btnRZp->setText("J6+");
 }
-void FormRobotPilot::setup_btn_cartesian(){
+
+void FormRobotPilot::setup_btn_cartesian() {
     ui->btnTXn->setText("Tx-");
     ui->btnTXp->setText("Tx+");
     ui->btnTYn->setText("Ty-");
@@ -87,58 +84,58 @@ void FormRobotPilot::setup_btn_cartesian(){
     ui->btnRZn->setText("Rz-");
     ui->btnRZp->setText("Rz+");
 }
-void FormRobotPilot::on_radCartesianReference_clicked(){
+
+void FormRobotPilot::on_radCartesianReference_clicked() {
     setup_btn_cartesian();
 }
 
-void FormRobotPilot::on_radCartesianTool_clicked()
-{
+void FormRobotPilot::on_radCartesianTool_clicked() {
     setup_btn_cartesian();
 }
 
-void FormRobotPilot::on_radJoints_clicked()
-{
+void FormRobotPilot::on_radJoints_clicked() {
     setup_btn_joints();
 }
 
-void FormRobotPilot::on_btnTXn_clicked(){ IncrementalMove(0, -1); }
-void FormRobotPilot::on_btnTYn_clicked(){ IncrementalMove(1, -1); }
-void FormRobotPilot::on_btnTZn_clicked(){ IncrementalMove(2, -1); }
-void FormRobotPilot::on_btnRXn_clicked(){ IncrementalMove(3, -1); }
-void FormRobotPilot::on_btnRYn_clicked(){ IncrementalMove(4, -1); }
-void FormRobotPilot::on_btnRZn_clicked(){ IncrementalMove(5, -1); }
-
-void FormRobotPilot::on_btnTXp_clicked(){ IncrementalMove(0, +1); }
-void FormRobotPilot::on_btnTYp_clicked(){ IncrementalMove(1, +1); }
-void FormRobotPilot::on_btnTZp_clicked(){ IncrementalMove(2, +1); }
-void FormRobotPilot::on_btnRXp_clicked(){ IncrementalMove(3, +1); }
-void FormRobotPilot::on_btnRYp_clicked(){ IncrementalMove(4, +1); }
-void FormRobotPilot::on_btnRZp_clicked(){ IncrementalMove(5, +1); }
-
-
-void FormRobotPilot::IncrementalMove(int id, double sense){
-    if (!SelectRobot()) { return; }
+void FormRobotPilot::on_btnTXn_clicked() { IncrementalMove(0, -1); }
+void FormRobotPilot::on_btnTYn_clicked() { IncrementalMove(1, -1); }
+void FormRobotPilot::on_btnTZn_clicked() { IncrementalMove(2, -1); }
+void FormRobotPilot::on_btnRXn_clicked() { IncrementalMove(3, -1); }
+void FormRobotPilot::on_btnRYn_clicked() { IncrementalMove(4, -1); }
+void FormRobotPilot::on_btnRZn_clicked() { IncrementalMove(5, -1); }
+
+void FormRobotPilot::on_btnTXp_clicked() { IncrementalMove(0, +1); }
+void FormRobotPilot::on_btnTYp_clicked() { IncrementalMove(1, +1); }
+void FormRobotPilot::on_btnTZp_clicked() { IncrementalMove(2, +1); }
+void FormRobotPilot::on_btnRXp_clicked() { IncrementalMove(3, +1); }
+void FormRobotPilot::on_btnRYp_clicked() { IncrementalMove(4, +1); }
+void FormRobotPilot::on_btnRZp_clicked() { IncrementalMove(5, +1); }
+
+void FormRobotPilot::IncrementalMove(int id, double sense) {
+    if (!SelectRobot()) {
+        return;
+    }
 
     // Calculate the relative movement
     double step = sense * ui->spnStep->value();
 
     // check if it is a joint movement or a Cartesian movement
     bool is_joint_move = ui->radJoints->isChecked();
-    if (is_joint_move){
+    if (is_joint_move) {
         tJoints joints = Robot->Joints();
-        if (id >= joints.Length()){
+        if (id >= joints.Length()) {
             qDebug() << "Internal problem: Invalid joint ID";
             return;
         }
         joints.Data()[id] = joints.Data()[id] + step;
         bool can_move = Robot->MoveJ(joints);
-        if (!can_move){
+        if (!can_move) {
             RDK->ShowMessage(tr("The robot can't move to this location"), false);
         }
     } else {
-        // check the index so that is is within 0-5
-        if (id < 0 || id >= 6){
-            qDebug()<< "Internal problem: Invalid id provided for an incremental move";
+        // check the index so that it is within 0-5
+        if (id < 0 || id >= 6) {
+            qDebug() << "Internal problem: Invalid id provided for an incremental move";
             return;
         }
 
@@ -155,7 +152,7 @@ void FormRobotPilot::IncrementalMove(int id, double sense){
         Mat pose_robot_new;
 
         bool is_tcp_relative_move = ui->radCartesianTool->isChecked();
-        if (is_tcp_relative_move){
+        if (is_tcp_relative_move) {
             // apply relative to the TCP:
             // if the movement is relative to the TCP we must POST MULTIPLY the movement
             pose_robot_new = pose_robot * pose_increment;
@@ -172,7 +169,7 @@ void FormRobotPilot::IncrementalMove(int id, double sense){
         }
 
         bool canmove = Robot->MoveJ(pose_robot_new);
-        if (!canmove){
+        if (!canmove) {
             RDK->ShowMessage(tr("The robot can't move to this location"), false);
         }
         /*if (!Robot->setPose(pose_robot_new)){
@@ -184,10 +181,7 @@ void FormRobotPilot::IncrementalMove(int id, double sense){
     RDK->Render();
 }
 
-
-
-
-void FormRobotPilot::on_chkRunOnRobot_clicked(bool checked){
+void FormRobotPilot::on_chkRunOnRobot_clicked(bool checked) {
     if (checked) {
         if (!SelectRobot()) {
             RDK->ShowMessage(tr("Select a robot first"), false);
diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index 32a406b..b7e3f3e 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -21,12 +21,12 @@
 //------------------------------- RoboDK Plug-in commands ------------------------------
 
 
-QString PluginExample::PluginName(){
+QString PluginExample::PluginName() {
     return "Example Plugin";
 }
 
 
-QString PluginExample::PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar *statusbar, RoboDK *rdk, const QString &settings){
+QString PluginExample::PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar *statusbar, RoboDK *rdk, const QString &settings) {
     RDK = rdk;
     MainWindow = mw;
     StatusBar = statusbar;
@@ -61,12 +61,12 @@ QString PluginExample::PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar
     dock_robotpilot = nullptr;
     form_robotpilot = nullptr;
 
-    // return string is reserverd for future compatibility
+    // return string is reserved for future compatibility
     return "";
-};
+}
 
 
-void PluginExample::PluginUnload(){
+void PluginExample::PluginUnload() {
     // Cleanup the plugin
     qDebug() << "Unloading plugin " << PluginName();
 
@@ -85,7 +85,7 @@ void PluginExample::PluginUnload(){
     action_help->deleteLater();
     action_help = nullptr;
 
-    if (dock_robotpilot != nullptr){
+    if (dock_robotpilot != nullptr) {
         dock_robotpilot->close();
         dock_robotpilot = nullptr;
         form_robotpilot = nullptr;
@@ -95,7 +95,7 @@ void PluginExample::PluginUnload(){
     Q_CLEANUP_RESOURCE(resources1);
 }
 
-void PluginExample::PluginLoadToolbar(QMainWindow *mw, int icon_size){
+void PluginExample::PluginLoadToolbar(QMainWindow *mw, int icon_size) {
     // Create a new toolbar:
     toolbar1 = mw->addToolBar("Plugin Example Toolbar");
     toolbar1->setIconSize(QSize(icon_size, icon_size));
@@ -110,15 +110,15 @@ void PluginExample::PluginLoadToolbar(QMainWindow *mw, int icon_size){
 }
 
 
-bool PluginExample::PluginItemClick(Item item, QMenu *menu, TypeClick click_type){
+bool PluginExample::PluginItemClick(Item item, QMenu *menu, TypeClick click_type) {
     qDebug() << "Selected item: " << item->Name() << " of type " << item->Type() << " click type: " << click_type;
 
-    if (item->Type() == IItem::ITEM_TYPE_OBJECT){
+    if (item->Type() == IItem::ITEM_TYPE_OBJECT) {
         //menu->actions().insert(0, action_btn1); // add action at the beginning
         menu->addAction(action_information); // add action at the end
         qDebug() << "Done";
         return false;
-    } else if (item->Type() == IItem::ITEM_TYPE_ROBOT){
+    } else if (item->Type() == IItem::ITEM_TYPE_ROBOT) {
         //menu->actions().insert(0, action_robotpilot); // add action at the beginning
         menu->addAction(action_robotpilot); // add action at the end
         qDebug() << "Done";
@@ -127,12 +127,12 @@ bool PluginExample::PluginItemClick(Item item, QMenu *menu, TypeClick click_type
     return false;
 }
 
-QString PluginExample::PluginCommand(const QString &command, const QString &value){
+QString PluginExample::PluginCommand(const QString &command, const QString &value) {
     qDebug() << "Sent command: " << command << "    With value: " << value;
-    if (command.compare("Information", Qt::CaseInsensitive) == 0){
+    if (command.compare("Information", Qt::CaseInsensitive) == 0) {
         callback_benchmarkInfo();
         return "Done";
-    } else if (command.compare("RobotPilot", Qt::CaseInsensitive) == 0){
+    } else if (command.compare("RobotPilot", Qt::CaseInsensitive) == 0) {
         callback_robotpilot();
         return "Done";
     }
@@ -324,13 +324,13 @@ void PluginExample::PluginEvent(TypeEvent event_type) {
 // Define your own button callbacks here
 
 // Formats one row of the benchmark table (metric name + measured value)
-static QString BenchmarkRowHtml(const QString &metric, const QString &value){
+static QString BenchmarkRowHtml(const QString &metric, const QString &value) {
     return QString("<tr><td style=\"padding:4px 12px 4px 4px;\">%1</td>"
                     "<td style=\"padding:4px;font-family:monospace;text-align:right;\">%2</td></tr>")
             .arg(metric.toHtmlEscaped(), value.toHtmlEscaped());
 }
 
-void PluginExample::callback_benchmarkInfo(){
+void PluginExample::callback_benchmarkInfo() {
 
     // Perform some timing tests using the RoboDK API
     RDK->ShowMessage("Starting timing tests", false);
@@ -339,9 +339,9 @@ void PluginExample::callback_benchmarkInfo(){
     text_message_html += "<h2 style=\"margin-bottom:2px;\">Plugin Timing Tests Summary</h2>";
     text_message_html += QString("<p style=\"margin-top:0;font-weight:bold;\">%1</p>").arg(QDateTime::currentDateTime().toString());
 
-    int ntests=10000;
+    const int ntests = 10000;
     Item robot = RDK->ItemUserPick("Select a robot arm", IItem::ITEM_TYPE_ROBOT_ARM);
-    if (ItemValid(robot)){
+    if (ItemValid(robot)) {
         Mat pose_fk;
         tJoints joints_ik;
         QList<tJoints> joints_ik_all;
@@ -352,43 +352,43 @@ void PluginExample::callback_benchmarkInfo(){
 
         // Test Forward Kinematics (QElapsedTimer gives nanosecond resolution, unlike QDateTime's millisecond ticks)
         timer.start();
-        for (int i=0; i<ntests; i++){
+        for (int i = 0; i < ntests; i++) {
             pose_fk = robot->SolveFK(robot->Joints());
         }
-        benchmark_rows += BenchmarkRowHtml("Forward Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed())/ntests, 0, 'f', 2));
+        benchmark_rows += BenchmarkRowHtml("Forward Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2));
 
         // Test Inverse Kinematics
         timer.start();
-        for (int i=0; i<ntests; i++){
+        for (int i = 0; i < ntests; i++) {
             joints_ik = robot->SolveIK(pose_fk);
         }
-        benchmark_rows += BenchmarkRowHtml("Inverse Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed())/ntests, 0, 'f', 2));
+        benchmark_rows += BenchmarkRowHtml("Inverse Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2));
 
-        // Test Forward Kinematics
+        // Test Inverse Kinematics (all solutions)
         timer.start();
-        for (int i=0; i<ntests; i++){
+        for (int i = 0; i < ntests; i++) {
             joints_ik_all = robot->SolveIK_All(pose_fk);
         }
-        benchmark_rows += BenchmarkRowHtml("Inverse Kinematics (all solutions)", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed())/ntests, 0, 'f', 2));
+        benchmark_rows += BenchmarkRowHtml("Inverse Kinematics (all solutions)", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2));
 
-        // Test Collisions for each inverse kinematics solution, less samples but more accurate timer (nano second accuracy)
-        RDK->Collisions(); // Run one time first, the first time it needs to run additional calculations for all loaded objects if collision check was not on already
+        // Test collisions for each inverse kinematics solution: fewer samples, but a more accurate timer (nanosecond accuracy)
+        RDK->Collisions(); // Run once first: the first call needs extra bookkeeping for all loaded objects if collision checking was not already on
         timer.start();
         int nJoints = joints_ik_all.length();
         int nWithCollisions = 0;
         int nWithoutCollisions = 0;
-        for (int i=0; i<nJoints; i++){
+        for (int i = 0; i < nJoints; i++) {
             robot->setJoints(joints_ik_all.at(i));
             RDK->Render(IRoboDK::RenderUpdateOnly);
             int nCollisions = RDK->Collisions();
-            if (nCollisions > 0){
+            if (nCollisions > 0) {
                 nWithCollisions++;
             } else {
                 nWithoutCollisions++;
             }
         }
-        double ms_collisions = (1e-6 * timer.nsecsElapsed())/nJoints;
-        double samples_x_sec = 1000.0/ms_collisions;
+        double ms_collisions = (1e-6 * timer.nsecsElapsed()) / nJoints;
+        double samples_x_sec = 1000.0 / ms_collisions;
         qDebug() << "ms per collision: " << ms_collisions;
         qDebug() << "Collision samples per second: " << samples_x_sec;
 
@@ -397,30 +397,52 @@ void PluginExample::callback_benchmarkInfo(){
         benchmark_rows += BenchmarkRowHtml("Points with collisions", QString::number(nWithCollisions));
         benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nWithoutCollisions));
 
+        // Test collisions along the joint list of a full program, using the same metrics as above (optional: the user can cancel this step)
+        Item program = RDK->ItemUserPick("Select a program to check for collisions (optional)", IItem::ITEM_TYPE_PROGRAM);
+        if (ItemValid(program)) {
+            tMatrix2D *list_joints = Matrix2D_Create();
+            QString err_msg;
+            int result = program->InstructionListJoints(err_msg, list_joints, 1, 1, IRoboDK::COLLISION_OFF);
+
+            if (result >= 0) {
+                int nDOFs = robot->Joints().Length();
+                int nSteps = Matrix2D_Get_ncols(list_joints);
+                int nProgWithCollisions = 0;
+                int nProgWithoutCollisions = 0;
+
+                timer.start();
+                for (int col = 0; col < nSteps; col++) {
+                    // Each column of the matrix holds one step: [J1..Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID]
+                    tJoints step_joints(list_joints, col, nDOFs);
+                    robot->setJoints(step_joints);
+                    RDK->Render(IRoboDK::RenderUpdateOnly);
+                    int nCollisions = RDK->Collisions();
+                    if (nCollisions > 0) {
+                        nProgWithCollisions++;
+                    } else {
+                        nProgWithoutCollisions++;
+                    }
+                }
+                double ms_prog_collisions = (1e-6 * timer.nsecsElapsed()) / nSteps;
+
+                benchmark_rows += BenchmarkRowHtml("Program", program->Name());
+                benchmark_rows += BenchmarkRowHtml(QString("Program collision check (%1 steps)").arg(nSteps), QString("%1 ms/step").arg(ms_prog_collisions, 0, 'f', 2));
+                benchmark_rows += BenchmarkRowHtml("Program points with collisions", QString::number(nProgWithCollisions));
+                benchmark_rows += BenchmarkRowHtml("Program points without collisions", QString::number(nProgWithoutCollisions));
+            } else {
+                qDebug() << "InstructionListJoints failed: " << err_msg;
+                benchmark_rows += BenchmarkRowHtml("Program collision check", tr("Failed: %1").arg(err_msg));
+            }
+
+            Matrix2D_Delete(&list_joints);
+        }
+
         text_message_html += "<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
                               "<tr>"
                               "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Metric</th>"
                               "<th style=\"padding:4px;text-align:right;font-weight:bold;\">Value</th></tr>"
                               + benchmark_rows + "</table>";
 
-
-        // TODO: Test collisions for the joint lists of a program and perform similar metrics as done in the previous step
-        Item program = RDK->ItemUserPick("Select a program to run a check for collisions", IItem::ITEM_TYPE_PROGRAM);
-        QString err_msg;
-        tMatrix2D *list_joints; // TODO: create object
-        program->InstructionListJoints(&err_msg, list_joints, 1, 1, IRoboDK::COLLISION_OFF, 0, -1);
-        // For each joint in list_joints calculate collisions and calculate if a collision was found
-        for (){
-            robot->setJoints(list_joints.at(i));
-            RDK->Render(IRoboDK::RenderUpdateOnly);
-            int nCollisions = RDK->Collisions();
-            if (nCollisions > 0){
-                nWithCollisions++;
-            } else {
-                nWithoutCollisions++;
-            }
-        }
-
     } else {
         text_message_html += "<p><i>No robot available to run Kinematic tests</i></p>";
     }
@@ -428,47 +450,19 @@ void PluginExample::callback_benchmarkInfo(){
     // output through debug console
     qDebug() << text_message_html;
 
-
-    // Example to retrieve station items ans show their dependency:
-    /*
-    RDK->ShowMessage("Retrieving all station items", false);
-    QStringList item_list_names = RDK->getItemListNames();
-    qDebug() << "Available items in the current station: " << item_list_names;
-
-    QList<Item> item_list = RDK->getItemList();
-
-    RDK->ShowMessage("Displaying list of station items", false);
-    text_message_html += QString("<h3 style=\"margin-bottom:2px;\">Open station: %1</h3>").arg(RDK->getActiveStation()->Name().toHtmlEscaped());
-    text_message_html += "<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
-                          "<tr>"
-                          "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Item</th>"
-                          "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Parent</th></tr>";
-
-
-    foreach (Item itm, item_list){
-        Item item_parent = itm->Parent();
-        QString parent_text = ItemValid(item_parent) ? item_parent->Name() : tr("(station)");
-        text_message_html += QString("<tr><td style=\"padding:2px 12px 2px 4px;\">%1</td>"
-                                      "<td style=\"padding:2px;font-weight:bold;\"><i>%2</i></td></tr>")
-                .arg(itm->Name().toHtmlEscaped(), parent_text.toHtmlEscaped());
-    }
-    text_message_html += "</table>";
-*/
-
-
     QTextEdit *text_editor = new QTextEdit();
     text_editor->setReadOnly(true);
     text_editor->setHtml(text_message_html);
 
     static QDockWidget *dockedInfo = nullptr;
-    if (dockedInfo != nullptr){
+    if (dockedInfo != nullptr) {
         dockedInfo->deleteLater();
     }
     dockedInfo = AddDockWidget(MainWindow, text_editor, "Dock Plugin timing summary");
 }
 
-void PluginExample::callback_robotpilot(){
-    if (dock_robotpilot != nullptr){
+void PluginExample::callback_robotpilot() {
+    if (dock_robotpilot != nullptr) {
         // prevent opening more than 1 form
         RDK->ShowMessage("Robot pilot form is already open", false);
         return;
@@ -478,14 +472,14 @@ void PluginExample::callback_robotpilot(){
     dock_robotpilot = AddDockWidget(MainWindow, form_robotpilot, "Robot Pilot");
     connect(form_robotpilot, SIGNAL(destroyed()), this, SLOT(callback_robotpilot_closed()));
 }
-void PluginExample::callback_robotpilot_closed(){
+
+void PluginExample::callback_robotpilot_closed() {
     // it is important to reset pointers when the form is closed (deleted)
     dock_robotpilot = nullptr;
     form_robotpilot = nullptr;
     RDK->ShowMessage("Closed robot pilot", false);
 }
-void PluginExample::callback_help(){
+
+void PluginExample::callback_help() {
     QDesktopServices::openUrl(QUrl("https://robodk.com/CreatePlugin"));
 }
-
-
diff --git a/PluginExample/pluginexample.h b/PluginExample/pluginexample.h
index c89301d..b4d4beb 100644
--- a/PluginExample/pluginexample.h
+++ b/PluginExample/pluginexample.h
@@ -1,15 +1,12 @@
 #ifndef PLUGINEXAMPLE_H
 #define PLUGINEXAMPLE_H
 
-
 #include <QObject>
 #include <QtPlugin>
 #include <QDockWidget>
 #include "iapprobodk.h"
 #include "robodktypes.h"
 
-
-
 class QToolBar;
 class QMenu;
 class QAction;
@@ -26,19 +23,19 @@ class FormRobotPilot;
 class PluginExample : public QObject, IAppRoboDK
 {
     Q_OBJECT
-    Q_PLUGIN_METADATA(IID "RoboDK.IAppRoboDK")// FILE "metadatalugin.json")
+    Q_PLUGIN_METADATA(IID "RoboDK.IAppRoboDK")
     Q_INTERFACES(IAppRoboDK)
 
 public:
     //------------------------------- RoboDK Plug-in Interface commands ------------------------------
 
-    QString PluginName(void) override;    
-    virtual QString PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar *statusbar, RoboDK *rdk, const QString &settings="") override;
-    virtual void PluginUnload() override;
-    virtual void PluginLoadToolbar(QMainWindow *mw, int icon_size) override;
-    virtual bool PluginItemClick(Item item, QMenu *menu, TypeClick click_type) override;
-    virtual QString PluginCommand(const QString &command, const QString &value) override;
-    virtual void PluginEvent(TypeEvent event_type) override;
+    QString PluginName() override;
+    QString PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar *statusbar, RoboDK *rdk, const QString &settings="") override;
+    void PluginUnload() override;
+    void PluginLoadToolbar(QMainWindow *mw, int icon_size) override;
+    bool PluginItemClick(Item item, QMenu *menu, TypeClick click_type) override;
+    QString PluginCommand(const QString &command, const QString &value) override;
+    void PluginEvent(TypeEvent event_type) override;
 
     //----------------------------------------------------------------------------------
 
@@ -65,7 +62,7 @@ public slots:
     /// Called when the robot pilot window is closed (event triggered by the dock window)
     void callback_robotpilot_closed();
 
-    /// Called when the user select the button/action for help
+    /// Called when the user selects the button/action for help
     void callback_help();
 
 // define your actions: usually, one action per button

From ffea5ba55389378ae93d2699d5bfb4b59ab5374d Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Thu, 16 Jul 2026 13:26:48 +0200
Subject: [PATCH 08/28] Improved program Main guess

---
 PluginExample/pluginexample.cpp | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index b7e3f3e..6c2b167 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -397,9 +397,19 @@ void PluginExample::callback_benchmarkInfo() {
         benchmark_rows += BenchmarkRowHtml("Points with collisions", QString::number(nWithCollisions));
         benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nWithoutCollisions));
 
+
+
         // Test collisions along the joint list of a full program, using the same metrics as above (optional: the user can cancel this step)
-        Item program = RDK->ItemUserPick("Select a program to check for collisions (optional)", IItem::ITEM_TYPE_PROGRAM);
+        Item program = RDK->getItem("Main", IItem::ITEM_TYPE_PROGRAM);
+        if (!ItemValid(program)){
+            program = RDK->ItemUserPick("Select a program to check for collisions (optional)", IItem::ITEM_TYPE_PROGRAM);
+        }
         if (ItemValid(program)) {
+            // TODO: Show the table at this point and update again after following calculations
+
+            // TODO: Add a header if the program is valid
+
+            RDK->ShowMessage("Calculating collisions for program: " + program->Name() + " ...", false);
             tMatrix2D *list_joints = Matrix2D_Create();
             QString err_msg;
             int result = program->InstructionListJoints(err_msg, list_joints, 1, 1, IRoboDK::COLLISION_OFF);
@@ -427,6 +437,7 @@ void PluginExample::callback_benchmarkInfo() {
 
                 benchmark_rows += BenchmarkRowHtml("Program", program->Name());
                 benchmark_rows += BenchmarkRowHtml(QString("Program collision check (%1 steps)").arg(nSteps), QString("%1 ms/step").arg(ms_prog_collisions, 0, 'f', 2));
+                // TODO: Add the collision check rate in samples/second based on ms_prog_collisions
                 benchmark_rows += BenchmarkRowHtml("Program points with collisions", QString::number(nProgWithCollisions));
                 benchmark_rows += BenchmarkRowHtml("Program points without collisions", QString::number(nProgWithoutCollisions));
             } else {
@@ -434,7 +445,7 @@ void PluginExample::callback_benchmarkInfo() {
                 benchmark_rows += BenchmarkRowHtml("Program collision check", tr("Failed: %1").arg(err_msg));
             }
 
-            Matrix2D_Delete(&list_joints);
+            ::Matrix2D_Delete(&list_joints);
         }
 
         text_message_html += "<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
@@ -447,6 +458,8 @@ void PluginExample::callback_benchmarkInfo() {
         text_message_html += "<p><i>No robot available to run Kinematic tests</i></p>";
     }
 
+    RDK->ShowMessage("Done with benchmark calculation", false);
+
     // output through debug console
     qDebug() << text_message_html;
 

From 6205d708c7902992572cb4db3ef96a4151094067 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Thu, 16 Jul 2026 13:46:36 +0200
Subject: [PATCH 09/28] Improving presetation of results

---
 PluginExample/pluginexample.cpp | 80 ++++++++++++++++++++-------------
 1 file changed, 50 insertions(+), 30 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index 6c2b167..acaa958 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -17,6 +17,7 @@
 #include <QIcon>
 #include <QDesktopServices>
 #include <QElapsedTimer>
+#include <QApplication>
 
 //------------------------------- RoboDK Plug-in commands ------------------------------
 
@@ -330,7 +331,21 @@ static QString BenchmarkRowHtml(const QString &metric, const QString &value) {
             .arg(metric.toHtmlEscaped(), value.toHtmlEscaped());
 }
 
+// Wraps a set of BenchmarkRowHtml() rows into a complete Metric/Value table
+static QString BenchmarkTableHtml(const QString &rows) {
+    return QString("<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
+                    "<tr>"
+                    "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Metric</th>"
+                    "<th style=\"padding:4px;text-align:right;font-weight:bold;\">Value</th></tr>")
+            + rows + "</table>";
+}
+
 void PluginExample::callback_benchmarkInfo() {
+    static QDockWidget *dockedInfo = nullptr;
+    if (dockedInfo != nullptr) {
+        dockedInfo->deleteLater();
+        QApplication::processEvents(); // force the dock widget to be removed
+    }
 
     // Perform some timing tests using the RoboDK API
     RDK->ShowMessage("Starting timing tests", false);
@@ -339,6 +354,13 @@ void PluginExample::callback_benchmarkInfo() {
     text_message_html += "<h2 style=\"margin-bottom:2px;\">Plugin Timing Tests Summary</h2>";
     text_message_html += QString("<p style=\"margin-top:0;font-weight:bold;\">%1</p>").arg(QDateTime::currentDateTime().toString());
 
+    // Create the report widget now: this lets us show partial results while the (potentially slow) collision checks run below
+    QTextEdit *text_editor = new QTextEdit();
+    text_editor->setReadOnly(true);
+    text_editor->setHtml(text_message_html);
+
+    dockedInfo = AddDockWidget(MainWindow, text_editor, "Dock Plugin timing summary");
+
     const int ntests = 10000;
     Item robot = RDK->ItemUserPick("Select a robot arm", IItem::ITEM_TYPE_ROBOT_ARM);
     if (ItemValid(robot)) {
@@ -350,6 +372,8 @@ void PluginExample::callback_benchmarkInfo() {
         QString benchmark_rows;
         benchmark_rows += BenchmarkRowHtml("Robot", robot->Name());
 
+        // TODO: Add cpu information, frequency, RAM and OS info in 1 or 2 lines
+
         // Test Forward Kinematics (QElapsedTimer gives nanosecond resolution, unlike QDateTime's millisecond ticks)
         timer.start();
         for (int i = 0; i < ntests; i++) {
@@ -397,23 +421,27 @@ void PluginExample::callback_benchmarkInfo() {
         benchmark_rows += BenchmarkRowHtml("Points with collisions", QString::number(nWithCollisions));
         benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nWithoutCollisions));
 
-
+        // Show the table now: the program collision check below can take a while for long programs
+        text_message_html += BenchmarkTableHtml(benchmark_rows);
+        text_editor->setHtml(text_message_html);
+        QApplication::processEvents(); // force the dock widget to repaint now, before the (possibly slow) program collision check below
 
         // Test collisions along the joint list of a full program, using the same metrics as above (optional: the user can cancel this step)
         Item program = RDK->getItem("Main", IItem::ITEM_TYPE_PROGRAM);
-        if (!ItemValid(program)){
+        if (!ItemValid(program)) {
             program = RDK->ItemUserPick("Select a program to check for collisions (optional)", IItem::ITEM_TYPE_PROGRAM);
+            QApplication::processEvents(); // hides the popup right away as we are doing heavy processing afterwards
         }
         if (ItemValid(program)) {
-            // TODO: Show the table at this point and update again after following calculations
-
-            // TODO: Add a header if the program is valid
+            // Header for this section, only added if the program is valid
+            text_message_html += QString("<h3 style=\"margin-bottom:2px;\">Program Collision Check: %1</h3>").arg(program->Name().toHtmlEscaped());
 
             RDK->ShowMessage("Calculating collisions for program: " + program->Name() + " ...", false);
             tMatrix2D *list_joints = Matrix2D_Create();
             QString err_msg;
             int result = program->InstructionListJoints(err_msg, list_joints, 1, 1, IRoboDK::COLLISION_OFF);
 
+            QString program_rows;
             if (result >= 0) {
                 int nDOFs = robot->Joints().Length();
                 int nSteps = Matrix2D_Get_ncols(list_joints);
@@ -432,46 +460,38 @@ void PluginExample::callback_benchmarkInfo() {
                     } else {
                         nProgWithoutCollisions++;
                     }
+                    // Update the progress from time to time:
+                    if (col % 100 == 0){
+                        RDK->Command("ProgressBar", QString("%1").arg(100.0*col/nSteps));
+                    }
                 }
+                RDK->Command("ProgressBar", "-1");
                 double ms_prog_collisions = (1e-6 * timer.nsecsElapsed()) / nSteps;
+                double prog_samples_x_sec = 1000.0 / ms_prog_collisions;
 
-                benchmark_rows += BenchmarkRowHtml("Program", program->Name());
-                benchmark_rows += BenchmarkRowHtml(QString("Program collision check (%1 steps)").arg(nSteps), QString("%1 ms/step").arg(ms_prog_collisions, 0, 'f', 2));
-                // TODO: Add the collision check rate in samples/second based on ms_prog_collisions
-                benchmark_rows += BenchmarkRowHtml("Program points with collisions", QString::number(nProgWithCollisions));
-                benchmark_rows += BenchmarkRowHtml("Program points without collisions", QString::number(nProgWithoutCollisions));
+                program_rows += BenchmarkRowHtml(QString("Collision check (%1 steps)").arg(nSteps), QString("%1 ms/step").arg(ms_prog_collisions, 0, 'f', 2));
+                program_rows += BenchmarkRowHtml("Collision check rate", QString("%1 samples/sec").arg(prog_samples_x_sec, 0, 'f', 2));
+                program_rows += BenchmarkRowHtml("Points with collisions", QString::number(nProgWithCollisions));
+                program_rows += BenchmarkRowHtml("Points without collisions", QString::number(nProgWithoutCollisions));
             } else {
                 qDebug() << "InstructionListJoints failed: " << err_msg;
-                benchmark_rows += BenchmarkRowHtml("Program collision check", tr("Failed: %1").arg(err_msg));
+                program_rows += BenchmarkRowHtml("Collision check", tr("Failed: %1").arg(err_msg));
             }
 
             ::Matrix2D_Delete(&list_joints);
-        }
 
-        text_message_html += "<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
-                              "<tr>"
-                              "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Metric</th>"
-                              "<th style=\"padding:4px;text-align:right;font-weight:bold;\">Value</th></tr>"
-                              + benchmark_rows + "</table>";
+            text_message_html += BenchmarkTableHtml(program_rows);
+
+            // Update the report now that the program collision check is done
+            text_editor->setHtml(text_message_html);
+        }
 
     } else {
         text_message_html += "<p><i>No robot available to run Kinematic tests</i></p>";
+        text_editor->setHtml(text_message_html);
     }
 
     RDK->ShowMessage("Done with benchmark calculation", false);
-
-    // output through debug console
-    qDebug() << text_message_html;
-
-    QTextEdit *text_editor = new QTextEdit();
-    text_editor->setReadOnly(true);
-    text_editor->setHtml(text_message_html);
-
-    static QDockWidget *dockedInfo = nullptr;
-    if (dockedInfo != nullptr) {
-        dockedInfo->deleteLater();
-    }
-    dockedInfo = AddDockWidget(MainWindow, text_editor, "Dock Plugin timing summary");
 }
 
 void PluginExample::callback_robotpilot() {

From 0fee9852956a0f67681e482d45ac5087a97452dd Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Thu, 16 Jul 2026 13:52:16 +0200
Subject: [PATCH 10/28] Added System and CPU info

---
 PluginExample/pluginexample.cpp | 96 ++++++++++++++++++++++++++++++++-
 1 file changed, 94 insertions(+), 2 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index acaa958..8c638c0 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -18,6 +18,20 @@
 #include <QDesktopServices>
 #include <QElapsedTimer>
 #include <QApplication>
+#include <QSysInfo>
+#include <QThread>
+
+// Platform-specific headers used only to read the CPU model/frequency and total RAM
+// (Qt does not expose this information through a cross-platform API)
+#if defined(Q_OS_WIN)
+#include <QSettings>
+#include <windows.h>
+#elif defined(Q_OS_MACOS)
+#include <sys/sysctl.h>
+#elif defined(Q_OS_LINUX)
+#include <QFile>
+#include <unistd.h>
+#endif
 
 //------------------------------- RoboDK Plug-in commands ------------------------------
 
@@ -331,6 +345,85 @@ static QString BenchmarkRowHtml(const QString &metric, const QString &value) {
             .arg(metric.toHtmlEscaped(), value.toHtmlEscaped());
 }
 
+// Returns 1-2 benchmark rows describing the OS, CPU and RAM of this computer.
+// The CPU model/frequency and total RAM require a few OS-specific calls since Qt does not
+// expose them directly; any piece that is not available on this platform (e.g. CPU frequency
+// on Apple Silicon Macs) is simply left out instead of failing.
+static QString HardwareInfoRowsHtml() {
+    QString cpu_model;
+    QString cpu_freq;
+    QString ram_total;
+
+#if defined(Q_OS_WIN)
+    QSettings cpu_key(R"(HKEY_LOCAL_MACHINE\HARDWARE\DESCRIPTION\System\CentralProcessor\0)", QSettings::NativeFormat);
+    cpu_model = cpu_key.value("ProcessorNameString").toString().trimmed();
+    int mhz = cpu_key.value("~MHz").toInt();
+    if (mhz > 0) {
+        cpu_freq = QString("%1 GHz").arg(mhz / 1000.0, 0, 'f', 2);
+    }
+
+    MEMORYSTATUSEX mem_status;
+    mem_status.dwLength = sizeof(mem_status);
+    if (GlobalMemoryStatusEx(&mem_status)) {
+        ram_total = QString("%1 GB").arg(mem_status.ullTotalPhys / (1024.0 * 1024.0 * 1024.0), 0, 'f', 1);
+    }
+
+#elif defined(Q_OS_MACOS)
+    char cpu_brand[256] = {};
+    size_t cpu_brand_size = sizeof(cpu_brand);
+    if (sysctlbyname("machdep.cpu.brand_string", cpu_brand, &cpu_brand_size, nullptr, 0) == 0) {
+        cpu_model = QString::fromLocal8Bit(cpu_brand);
+    }
+
+    qint64 freq_hz = 0;
+    size_t freq_size = sizeof(freq_hz);
+    // Not available on Apple Silicon Macs: sysctlbyname() fails here and cpu_freq stays empty
+    if (sysctlbyname("hw.cpufrequency", &freq_hz, &freq_size, nullptr, 0) == 0 && freq_hz > 0) {
+        cpu_freq = QString("%1 GHz").arg(freq_hz / 1.0e9, 0, 'f', 2);
+    }
+
+    qint64 ram_bytes = 0;
+    size_t ram_size = sizeof(ram_bytes);
+    if (sysctlbyname("hw.memsize", &ram_bytes, &ram_size, nullptr, 0) == 0) {
+        ram_total = QString("%1 GB").arg(ram_bytes / (1024.0 * 1024.0 * 1024.0), 0, 'f', 1);
+    }
+
+#elif defined(Q_OS_LINUX)
+    QFile cpuinfo("/proc/cpuinfo");
+    if (cpuinfo.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        const QStringList lines = QString::fromLocal8Bit(cpuinfo.readAll()).split('\n');
+        for (const QString &line : lines) {
+            if (cpu_model.isEmpty() && line.startsWith("model name")) {
+                cpu_model = line.section(':', 1).trimmed();
+            } else if (cpu_freq.isEmpty() && line.startsWith("cpu MHz")) {
+                cpu_freq = QString("%1 GHz").arg(line.section(':', 1).trimmed().toDouble() / 1000.0, 0, 'f', 2);
+            }
+        }
+    }
+
+    long n_pages = sysconf(_SC_PHYS_PAGES);
+    long page_size = sysconf(_SC_PAGE_SIZE);
+    if (n_pages > 0 && page_size > 0) {
+        ram_total = QString("%1 GB").arg((double(n_pages) * page_size) / (1024.0 * 1024.0 * 1024.0), 0, 'f', 1);
+    }
+#endif
+
+    if (cpu_model.isEmpty()) {
+        cpu_model = QSysInfo::currentCpuArchitecture();
+    }
+
+    QString system_value = QString("%1, %2, %3 cores").arg(QSysInfo::prettyProductName(), cpu_model, QString::number(QThread::idealThreadCount()));
+    if (!cpu_freq.isEmpty()) {
+        system_value += QString(" @ %1").arg(cpu_freq);
+    }
+
+    QString rows = BenchmarkRowHtml("System", system_value);
+    if (!ram_total.isEmpty()) {
+        rows += BenchmarkRowHtml("RAM", ram_total);
+    }
+    return rows;
+}
+
 // Wraps a set of BenchmarkRowHtml() rows into a complete Metric/Value table
 static QString BenchmarkTableHtml(const QString &rows) {
     return QString("<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
@@ -371,8 +464,7 @@ void PluginExample::callback_benchmarkInfo() {
 
         QString benchmark_rows;
         benchmark_rows += BenchmarkRowHtml("Robot", robot->Name());
-
-        // TODO: Add cpu information, frequency, RAM and OS info in 1 or 2 lines
+        benchmark_rows += HardwareInfoRowsHtml();
 
         // Test Forward Kinematics (QElapsedTimer gives nanosecond resolution, unlike QDateTime's millisecond ticks)
         timer.start();

From dc53dae74fa6c249fadf55039d5efd2aaf8c3cd3 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Thu, 16 Jul 2026 13:58:28 +0200
Subject: [PATCH 11/28] Improved presentation of system data

---
 PluginExample/pluginexample.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index 8c638c0..fae084e 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -345,7 +345,7 @@ static QString BenchmarkRowHtml(const QString &metric, const QString &value) {
             .arg(metric.toHtmlEscaped(), value.toHtmlEscaped());
 }
 
-// Returns 1-2 benchmark rows describing the OS, CPU and RAM of this computer.
+// Returns 2-3 benchmark rows describing the System (OS), CPU (model, cores, frequency) and RAM of this computer.
 // The CPU model/frequency and total RAM require a few OS-specific calls since Qt does not
 // expose them directly; any piece that is not available on this platform (e.g. CPU frequency
 // on Apple Silicon Macs) is simply left out instead of failing.
@@ -412,12 +412,13 @@ static QString HardwareInfoRowsHtml() {
         cpu_model = QSysInfo::currentCpuArchitecture();
     }
 
-    QString system_value = QString("%1, %2, %3 cores").arg(QSysInfo::prettyProductName(), cpu_model, QString::number(QThread::idealThreadCount()));
+    QString cpu_value = QString("%1, %2 cores").arg(cpu_model, QString::number(QThread::idealThreadCount()));
     if (!cpu_freq.isEmpty()) {
-        system_value += QString(" @ %1").arg(cpu_freq);
+        cpu_value += QString(" @ %1").arg(cpu_freq);
     }
 
-    QString rows = BenchmarkRowHtml("System", system_value);
+    QString rows = BenchmarkRowHtml("System", QSysInfo::prettyProductName());
+    rows += BenchmarkRowHtml("CPU", cpu_value);
     if (!ram_total.isEmpty()) {
         rows += BenchmarkRowHtml("RAM", ram_total);
     }

From 951aea21ed263c3807c7ca6fa9a3a0b6e2e4f24d Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Thu, 16 Jul 2026 15:14:38 +0200
Subject: [PATCH 12/28] Improved benchmarks

---
 PluginExample/pluginexample.cpp | 39 +++++++++++++++++++--------------
 1 file changed, 23 insertions(+), 16 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index fae084e..ba78e93 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -434,6 +434,13 @@ static QString BenchmarkTableHtml(const QString &rows) {
             + rows + "</table>";
 }
 
+// Formats a full-width section header row inside the benchmark table (keeps everything in one
+// table so both columns stay the same width instead of each table sizing itself independently)
+static QString BenchmarkSectionRowHtml(const QString &title) {
+    return QString("<tr><td colspan=\"2\" style=\"padding:10px 4px 4px 4px;font-weight:bold;border-top:1px solid #999;\">%1</td></tr>")
+            .arg(title.toHtmlEscaped());
+}
+
 void PluginExample::callback_benchmarkInfo() {
     static QDockWidget *dockedInfo = nullptr;
     if (dockedInfo != nullptr) {
@@ -444,9 +451,11 @@ void PluginExample::callback_benchmarkInfo() {
     // Perform some timing tests using the RoboDK API
     RDK->ShowMessage("Starting timing tests", false);
 
-    QString text_message_html;
-    text_message_html += "<h2 style=\"margin-bottom:2px;\">Plugin Timing Tests Summary</h2>";
-    text_message_html += QString("<p style=\"margin-top:0;font-weight:bold;\">%1</p>").arg(QDateTime::currentDateTime().toString());
+    QString header_html;
+    header_html += "<h2 style=\"margin-bottom:2px;\">Plugin Timing Tests Summary</h2>";
+    header_html += QString("<p style=\"margin-top:0;font-weight:bold;\">%1</p>").arg(QDateTime::currentDateTime().toString());
+
+    QString text_message_html = header_html;
 
     // Create the report widget now: this lets us show partial results while the (potentially slow) collision checks run below
     QTextEdit *text_editor = new QTextEdit();
@@ -515,7 +524,7 @@ void PluginExample::callback_benchmarkInfo() {
         benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nWithoutCollisions));
 
         // Show the table now: the program collision check below can take a while for long programs
-        text_message_html += BenchmarkTableHtml(benchmark_rows);
+        text_message_html = header_html + BenchmarkTableHtml(benchmark_rows);
         text_editor->setHtml(text_message_html);
         QApplication::processEvents(); // force the dock widget to repaint now, before the (possibly slow) program collision check below
 
@@ -526,15 +535,14 @@ void PluginExample::callback_benchmarkInfo() {
             QApplication::processEvents(); // hides the popup right away as we are doing heavy processing afterwards
         }
         if (ItemValid(program)) {
-            // Header for this section, only added if the program is valid
-            text_message_html += QString("<h3 style=\"margin-bottom:2px;\">Program Collision Check: %1</h3>").arg(program->Name().toHtmlEscaped());
+            // Section header row for the program results, added to the same table so both columns stay the same width
+            benchmark_rows += BenchmarkSectionRowHtml(QString("Program Collision Check: %1").arg(program->Name().toHtmlEscaped()));
 
             RDK->ShowMessage("Calculating collisions for program: " + program->Name() + " ...", false);
             tMatrix2D *list_joints = Matrix2D_Create();
             QString err_msg;
             int result = program->InstructionListJoints(err_msg, list_joints, 1, 1, IRoboDK::COLLISION_OFF);
 
-            QString program_rows;
             if (result >= 0) {
                 int nDOFs = robot->Joints().Length();
                 int nSteps = Matrix2D_Get_ncols(list_joints);
@@ -562,25 +570,24 @@ void PluginExample::callback_benchmarkInfo() {
                 double ms_prog_collisions = (1e-6 * timer.nsecsElapsed()) / nSteps;
                 double prog_samples_x_sec = 1000.0 / ms_prog_collisions;
 
-                program_rows += BenchmarkRowHtml(QString("Collision check (%1 steps)").arg(nSteps), QString("%1 ms/step").arg(ms_prog_collisions, 0, 'f', 2));
-                program_rows += BenchmarkRowHtml("Collision check rate", QString("%1 samples/sec").arg(prog_samples_x_sec, 0, 'f', 2));
-                program_rows += BenchmarkRowHtml("Points with collisions", QString::number(nProgWithCollisions));
-                program_rows += BenchmarkRowHtml("Points without collisions", QString::number(nProgWithoutCollisions));
+                benchmark_rows += BenchmarkRowHtml(QString("Collision check (%1 steps)").arg(nSteps), QString("%1 ms/step").arg(ms_prog_collisions, 0, 'f', 2));
+                benchmark_rows += BenchmarkRowHtml("Collision check rate", QString("%1 samples/sec").arg(prog_samples_x_sec, 0, 'f', 2));
+                benchmark_rows += BenchmarkRowHtml("Points with collisions", QString::number(nProgWithCollisions));
+                benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nProgWithoutCollisions));
             } else {
                 qDebug() << "InstructionListJoints failed: " << err_msg;
-                program_rows += BenchmarkRowHtml("Collision check", tr("Failed: %1").arg(err_msg));
+                benchmark_rows += BenchmarkRowHtml("Collision check", tr("Failed: %1").arg(err_msg));
             }
 
             ::Matrix2D_Delete(&list_joints);
 
-            text_message_html += BenchmarkTableHtml(program_rows);
-
-            // Update the report now that the program collision check is done
+            // Update the report now that the program collision check is done (same table, so columns stay aligned)
+            text_message_html = header_html + BenchmarkTableHtml(benchmark_rows);
             text_editor->setHtml(text_message_html);
         }
 
     } else {
-        text_message_html += "<p><i>No robot available to run Kinematic tests</i></p>";
+        text_message_html = header_html + "<p><i>No robot available to run Kinematic tests</i></p>";
         text_editor->setHtml(text_message_html);
     }
 

From 383e9814ec110aae776c3bd903b0bfd2650859d1 Mon Sep 17 00:00:00 2001
From: RoboDK <anubiola@robodk.com>
Date: Thu, 16 Jul 2026 17:34:05 +0200
Subject: [PATCH 13/28] Fixed crash

---
 PluginExample/pluginexample.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index ba78e93..f4da115 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -444,7 +444,7 @@ static QString BenchmarkSectionRowHtml(const QString &title) {
 void PluginExample::callback_benchmarkInfo() {
     static QDockWidget *dockedInfo = nullptr;
     if (dockedInfo != nullptr) {
-        dockedInfo->deleteLater();
+        dockedInfo->close();
         QApplication::processEvents(); // force the dock widget to be removed
     }
 

From e6ac3e57b694cae460c505dc2580ad7f61357a65 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Fri, 17 Jul 2026 14:24:42 +0200
Subject: [PATCH 14/28] Renamed action

---
 PluginExample/pluginexample.cpp | 19 +++++++++++--------
 PluginExample/pluginexample.h   |  4 ++--
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index f4da115..f47f80e 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -56,19 +56,20 @@ QString PluginExample::PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar
     Q_INIT_RESOURCE(resources1);
 
     // Here you can add all the "Actions": these actions are callbacks from buttons selected from the menu or the toolbar
-    action_information = new QAction(QIcon(":/resources/information.png"), tr("Plugin Speed Information"));
-    action_information->setShortcut(QKeySequence("Ctrl+I"));
+    action_benchmarkInfo = new QAction(QIcon(":/resources/information.png"), tr("Plugin Speed Information"));
+    action_benchmarkInfo->setShortcut(QKeySequence("Ctrl+I"));
+    action_benchmarkInfo->setObjectName("actionBenchmarkInfo");
     action_robotpilot = new QAction(QIcon(":/resources/code.png"), tr("Robot Pilot Form"));
     action_help = new QAction(QIcon(":/resources/help.png"), tr("RoboDK Plugins - Help"));
     // Make sure to connect the action to your callback (slot)
-    connect(action_information, SIGNAL(triggered()), this, SLOT(callback_benchmarkInfo()), Qt::QueuedConnection);
+    connect(action_benchmarkInfo, SIGNAL(triggered()), this, SLOT(callback_benchmarkInfo()), Qt::QueuedConnection);
     connect(action_robotpilot, SIGNAL(triggered()), this, SLOT(callback_robotpilot()), Qt::QueuedConnection);
     connect(action_help, SIGNAL(triggered()), this, SLOT(callback_help()), Qt::QueuedConnection);
 
     // Here you can add one or more actions in the menu
     menu1 = menubar->addMenu("Plugin Example Menu");
     qDebug() << "Setting up the menu bar";
-    menu1->addAction(action_information);
+    menu1->addAction(action_benchmarkInfo);
     menu1->addAction(action_robotpilot);
     menu1->addAction(action_help);
 
@@ -93,8 +94,8 @@ void PluginExample::PluginUnload() {
     toolbar1 = nullptr;
 
     // remove the actions (not owned by the menu/toolbar, so they are not deleted automatically)
-    action_information->deleteLater();
-    action_information = nullptr;
+    action_benchmarkInfo->deleteLater();
+    action_benchmarkInfo = nullptr;
     action_robotpilot->deleteLater();
     action_robotpilot = nullptr;
     action_help->deleteLater();
@@ -119,7 +120,7 @@ void PluginExample::PluginLoadToolbar(QMainWindow *mw, int icon_size) {
     toolbar1->setObjectName(PluginName() + "-Toolbar1");
 
     // Add a new button to the toolbar
-    toolbar1->addAction(action_information);
+    toolbar1->addAction(action_benchmarkInfo);
     toolbar1->addAction(action_robotpilot);
     toolbar1->addAction(action_help);
 }
@@ -130,7 +131,7 @@ bool PluginExample::PluginItemClick(Item item, QMenu *menu, TypeClick click_type
 
     if (item->Type() == IItem::ITEM_TYPE_OBJECT) {
         //menu->actions().insert(0, action_btn1); // add action at the beginning
-        menu->addAction(action_information); // add action at the end
+        menu->addAction(action_benchmarkInfo); // add action at the end
         qDebug() << "Done";
         return false;
     } else if (item->Type() == IItem::ITEM_TYPE_ROBOT) {
@@ -591,6 +592,8 @@ void PluginExample::callback_benchmarkInfo() {
         text_editor->setHtml(text_message_html);
     }
 
+    // todo: print the results in text mode for console
+
     RDK->ShowMessage("Done with benchmark calculation", false);
 }
 
diff --git a/PluginExample/pluginexample.h b/PluginExample/pluginexample.h
index b4d4beb..6c5de4b 100644
--- a/PluginExample/pluginexample.h
+++ b/PluginExample/pluginexample.h
@@ -73,8 +73,8 @@ public slots:
     /// Pointer to the customized menu
     QMenu *menu1;
 
-    /// Information action. callback_benchmarkInfo is triggered with this action. Actions are required to populate toolbars and menus and allows getting callbacks.
-    QAction *action_information;
+    /// Benchmark info action. callback_benchmarkInfo is triggered with this action. Actions are required to populate toolbars and menus and allows getting callbacks.
+    QAction *action_benchmarkInfo;
 
     /// Open robot pilot form action. callback_robotpilot is triggered with this action. Actions are required to populate toolbars and menus and allows getting callbacks.
     QAction *action_robotpilot;

From 19bd1f389a0109a53529cfce014b9d6bef8cf180 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Fri, 17 Jul 2026 14:42:56 +0200
Subject: [PATCH 15/28] Improved benchmark for console output

---
 PluginExample/pluginexample.cpp | 96 +++++++++++++++++++++++----------
 1 file changed, 67 insertions(+), 29 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index f47f80e..7e1b58f 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -20,6 +20,7 @@
 #include <QApplication>
 #include <QSysInfo>
 #include <QThread>
+#include <QVector>
 
 // Platform-specific headers used only to read the CPU model/frequency and total RAM
 // (Qt does not expose this information through a cross-platform API)
@@ -339,6 +340,15 @@ void PluginExample::PluginEvent(TypeEvent event_type) {
 //----------------------------------------------------------------------------------
 // Define your own button callbacks here
 
+// One row of the benchmark report: either a plain metric/value pair, or (if is_section is set)
+// a full-width section title. Kept as data so the same rows can be rendered both as an HTML
+// table (for the dock widget) and as an aligned plain-text table (for the console).
+struct BenchmarkRow {
+    QString metric;
+    QString value;
+    bool is_section = false;
+};
+
 // Formats one row of the benchmark table (metric name + measured value)
 static QString BenchmarkRowHtml(const QString &metric, const QString &value) {
     return QString("<tr><td style=\"padding:4px 12px 4px 4px;\">%1</td>"
@@ -350,7 +360,7 @@ static QString BenchmarkRowHtml(const QString &metric, const QString &value) {
 // The CPU model/frequency and total RAM require a few OS-specific calls since Qt does not
 // expose them directly; any piece that is not available on this platform (e.g. CPU frequency
 // on Apple Silicon Macs) is simply left out instead of failing.
-static QString HardwareInfoRowsHtml() {
+static QVector<BenchmarkRow> HardwareInfoRows() {
     QString cpu_model;
     QString cpu_freq;
     QString ram_total;
@@ -418,28 +428,48 @@ static QString HardwareInfoRowsHtml() {
         cpu_value += QString(" @ %1").arg(cpu_freq);
     }
 
-    QString rows = BenchmarkRowHtml("System", QSysInfo::prettyProductName());
-    rows += BenchmarkRowHtml("CPU", cpu_value);
+    QVector<BenchmarkRow> rows;
+    rows.append({"System", QSysInfo::prettyProductName()});
+    rows.append({"CPU", cpu_value});
     if (!ram_total.isEmpty()) {
-        rows += BenchmarkRowHtml("RAM", ram_total);
+        rows.append({"RAM", ram_total});
     }
     return rows;
 }
 
-// Wraps a set of BenchmarkRowHtml() rows into a complete Metric/Value table
-static QString BenchmarkTableHtml(const QString &rows) {
+// Formats a full-width section header row inside the benchmark table (keeps everything in one
+// table so both columns stay the same width instead of each table sizing itself independently)
+static QString BenchmarkSectionRowHtml(const QString &title) {
+    return QString("<tr><td colspan=\"2\" style=\"padding:10px 4px 4px 4px;font-weight:bold;border-top:1px solid #999;\">%1</td></tr>")
+            .arg(title.toHtmlEscaped());
+}
+
+// Wraps the accumulated rows into a complete Metric/Value HTML table (for the dock widget)
+static QString BenchmarkTableHtml(const QVector<BenchmarkRow> &rows) {
+    QString html_rows;
+    for (const BenchmarkRow &row : rows) {
+        html_rows += row.is_section ? BenchmarkSectionRowHtml(row.metric) : BenchmarkRowHtml(row.metric, row.value);
+    }
     return QString("<table cellspacing=\"0\" style=\"border-collapse:collapse;\">"
                     "<tr>"
                     "<th style=\"padding:4px;text-align:left;font-weight:bold;\">Metric</th>"
                     "<th style=\"padding:4px;text-align:right;font-weight:bold;\">Value</th></tr>")
-            + rows + "</table>";
+            + html_rows + "</table>";
 }
 
-// Formats a full-width section header row inside the benchmark table (keeps everything in one
-// table so both columns stay the same width instead of each table sizing itself independently)
-static QString BenchmarkSectionRowHtml(const QString &title) {
-    return QString("<tr><td colspan=\"2\" style=\"padding:10px 4px 4px 4px;font-weight:bold;border-top:1px solid #999;\">%1</td></tr>")
-            .arg(title.toHtmlEscaped());
+// Formats the accumulated rows as an aligned, human-readable plain-text table (for console output)
+static QString BenchmarkTableText(const QVector<BenchmarkRow> &rows) {
+    const int metric_width = 40;
+    QString text = QString("%1  Value\n").arg(QString("Metric").leftJustified(metric_width));
+    text += QString(metric_width + 10, QChar('-')) + "\n";
+    for (const BenchmarkRow &row : rows) {
+        if (row.is_section) {
+            text += QString("\n-- %1 --\n").arg(row.metric);
+        } else {
+            text += QString("%1  %2\n").arg(row.metric.leftJustified(metric_width), row.value);
+        }
+    }
+    return text;
 }
 
 void PluginExample::callback_benchmarkInfo() {
@@ -465,6 +495,10 @@ void PluginExample::callback_benchmarkInfo() {
 
     dockedInfo = AddDockWidget(MainWindow, text_editor, "Dock Plugin timing summary");
 
+    // Declared here (rather than inside the if-block below) so the rows collected so far are still
+    // available afterwards to print the plain-text console report
+    QVector<BenchmarkRow> benchmark_rows;
+
     const int ntests = 10000;
     Item robot = RDK->ItemUserPick("Select a robot arm", IItem::ITEM_TYPE_ROBOT_ARM);
     if (ItemValid(robot)) {
@@ -473,30 +507,29 @@ void PluginExample::callback_benchmarkInfo() {
         QList<tJoints> joints_ik_all;
         QElapsedTimer timer;
 
-        QString benchmark_rows;
-        benchmark_rows += BenchmarkRowHtml("Robot", robot->Name());
-        benchmark_rows += HardwareInfoRowsHtml();
+        benchmark_rows.append({"Robot", robot->Name()});
+        benchmark_rows += HardwareInfoRows();
 
         // Test Forward Kinematics (QElapsedTimer gives nanosecond resolution, unlike QDateTime's millisecond ticks)
         timer.start();
         for (int i = 0; i < ntests; i++) {
             pose_fk = robot->SolveFK(robot->Joints());
         }
-        benchmark_rows += BenchmarkRowHtml("Forward Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2));
+        benchmark_rows.append({"Forward Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2)});
 
         // Test Inverse Kinematics
         timer.start();
         for (int i = 0; i < ntests; i++) {
             joints_ik = robot->SolveIK(pose_fk);
         }
-        benchmark_rows += BenchmarkRowHtml("Inverse Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2));
+        benchmark_rows.append({"Inverse Kinematics", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2)});
 
         // Test Inverse Kinematics (all solutions)
         timer.start();
         for (int i = 0; i < ntests; i++) {
             joints_ik_all = robot->SolveIK_All(pose_fk);
         }
-        benchmark_rows += BenchmarkRowHtml("Inverse Kinematics (all solutions)", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2));
+        benchmark_rows.append({"Inverse Kinematics (all solutions)", QString("%1 microseconds").arg((1e-3 * timer.nsecsElapsed()) / ntests, 0, 'f', 2)});
 
         // Test collisions for each inverse kinematics solution: fewer samples, but a more accurate timer (nanosecond accuracy)
         RDK->Collisions(); // Run once first: the first call needs extra bookkeeping for all loaded objects if collision checking was not already on
@@ -519,10 +552,10 @@ void PluginExample::callback_benchmarkInfo() {
         qDebug() << "ms per collision: " << ms_collisions;
         qDebug() << "Collision samples per second: " << samples_x_sec;
 
-        benchmark_rows += BenchmarkRowHtml(QString("Collision check (%1 samples)").arg(nJoints), QString("%1 ms/sample").arg(ms_collisions, 0, 'f', 2));
-        benchmark_rows += BenchmarkRowHtml("Collision check rate", QString("%1 samples/sec").arg(samples_x_sec, 0, 'f', 2));
-        benchmark_rows += BenchmarkRowHtml("Points with collisions", QString::number(nWithCollisions));
-        benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nWithoutCollisions));
+        benchmark_rows.append({QString("Collision check (%1 samples)").arg(nJoints), QString("%1 ms/sample").arg(ms_collisions, 0, 'f', 2)});
+        benchmark_rows.append({"Collision check rate", QString("%1 samples/sec").arg(samples_x_sec, 0, 'f', 2)});
+        benchmark_rows.append({"Points with collisions", QString::number(nWithCollisions)});
+        benchmark_rows.append({"Points without collisions", QString::number(nWithoutCollisions)});
 
         // Show the table now: the program collision check below can take a while for long programs
         text_message_html = header_html + BenchmarkTableHtml(benchmark_rows);
@@ -537,7 +570,7 @@ void PluginExample::callback_benchmarkInfo() {
         }
         if (ItemValid(program)) {
             // Section header row for the program results, added to the same table so both columns stay the same width
-            benchmark_rows += BenchmarkSectionRowHtml(QString("Program Collision Check: %1").arg(program->Name().toHtmlEscaped()));
+            benchmark_rows.append({QString("Program Collision Check: %1").arg(program->Name()), QString(), true});
 
             RDK->ShowMessage("Calculating collisions for program: " + program->Name() + " ...", false);
             tMatrix2D *list_joints = Matrix2D_Create();
@@ -571,13 +604,13 @@ void PluginExample::callback_benchmarkInfo() {
                 double ms_prog_collisions = (1e-6 * timer.nsecsElapsed()) / nSteps;
                 double prog_samples_x_sec = 1000.0 / ms_prog_collisions;
 
-                benchmark_rows += BenchmarkRowHtml(QString("Collision check (%1 steps)").arg(nSteps), QString("%1 ms/step").arg(ms_prog_collisions, 0, 'f', 2));
-                benchmark_rows += BenchmarkRowHtml("Collision check rate", QString("%1 samples/sec").arg(prog_samples_x_sec, 0, 'f', 2));
-                benchmark_rows += BenchmarkRowHtml("Points with collisions", QString::number(nProgWithCollisions));
-                benchmark_rows += BenchmarkRowHtml("Points without collisions", QString::number(nProgWithoutCollisions));
+                benchmark_rows.append({QString("Collision check (%1 steps)").arg(nSteps), QString("%1 ms/step").arg(ms_prog_collisions, 0, 'f', 2)});
+                benchmark_rows.append({"Collision check rate", QString("%1 samples/sec").arg(prog_samples_x_sec, 0, 'f', 2)});
+                benchmark_rows.append({"Points with collisions", QString::number(nProgWithCollisions)});
+                benchmark_rows.append({"Points without collisions", QString::number(nProgWithoutCollisions)});
             } else {
                 qDebug() << "InstructionListJoints failed: " << err_msg;
-                benchmark_rows += BenchmarkRowHtml("Collision check", tr("Failed: %1").arg(err_msg));
+                benchmark_rows.append({"Collision check", tr("Failed: %1").arg(err_msg)});
             }
 
             ::Matrix2D_Delete(&list_joints);
@@ -592,7 +625,12 @@ void PluginExample::callback_benchmarkInfo() {
         text_editor->setHtml(text_message_html);
     }
 
-    // todo: print the results in text mode for console
+    // Print the same results as an aligned, human-readable plain-text table in the console
+    if (!benchmark_rows.isEmpty()) {
+        qDebug().noquote() << "\n" + BenchmarkTableText(benchmark_rows);
+    } else {
+        qDebug() << "No robot available to run Kinematic tests";
+    }
 
     RDK->ShowMessage("Done with benchmark calculation", false);
 }

From cc7c05fd9d10365fdd4ef486c6efc0f9d7241ecf Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Fri, 17 Jul 2026 17:09:56 +0200
Subject: [PATCH 16/28] added option to run from the command line

---
 PluginExample/pluginexample.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/PluginExample/pluginexample.cpp b/PluginExample/pluginexample.cpp
index 7e1b58f..4a34b37 100644
--- a/PluginExample/pluginexample.cpp
+++ b/PluginExample/pluginexample.cpp
@@ -146,8 +146,8 @@ bool PluginExample::PluginItemClick(Item item, QMenu *menu, TypeClick click_type
 
 QString PluginExample::PluginCommand(const QString &command, const QString &value) {
     qDebug() << "Sent command: " << command << "    With value: " << value;
-    if (command.compare("Information", Qt::CaseInsensitive) == 0) {
-        callback_benchmarkInfo();
+    if (command.compare("BenchmarkInfo", Qt::CaseInsensitive) == 0) {
+        callback_benchmarkInfo(value);
         return "Done";
     } else if (command.compare("RobotPilot", Qt::CaseInsensitive) == 0) {
         callback_robotpilot();
@@ -472,7 +472,7 @@ static QString BenchmarkTableText(const QVector<BenchmarkRow> &rows) {
     return text;
 }
 
-void PluginExample::callback_benchmarkInfo() {
+void PluginExample::callback_benchmarkInfo(const QString &progname) {
     static QDockWidget *dockedInfo = nullptr;
     if (dockedInfo != nullptr) {
         dockedInfo->close();
@@ -563,7 +563,7 @@ void PluginExample::callback_benchmarkInfo() {
         QApplication::processEvents(); // force the dock widget to repaint now, before the (possibly slow) program collision check below
 
         // Test collisions along the joint list of a full program, using the same metrics as above (optional: the user can cancel this step)
-        Item program = RDK->getItem("Main", IItem::ITEM_TYPE_PROGRAM);
+        Item program = RDK->getItem(progname.isEmpty() ? "Main" : progname, IItem::ITEM_TYPE_PROGRAM);
         if (!ItemValid(program)) {
             program = RDK->ItemUserPick("Select a program to check for collisions (optional)", IItem::ITEM_TYPE_PROGRAM);
             QApplication::processEvents(); // hides the popup right away as we are doing heavy processing afterwards

From d28583dce05ea243e7abf247a6eb0fda18d34614 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Fri, 17 Jul 2026 23:50:53 +0200
Subject: [PATCH 17/28] Added readme

---
 PluginExample/README.md          |  88 +++++++++++++++++++++++++++++++
 PluginExample/benchmark-info.png | Bin 0 -> 791568 bytes
 PluginExample/pluginexample.h    |   5 +-
 3 files changed, 91 insertions(+), 2 deletions(-)
 create mode 100644 PluginExample/README.md
 create mode 100644 PluginExample/benchmark-info.png

diff --git a/PluginExample/README.md b/PluginExample/README.md
new file mode 100644
index 0000000..47667a5
--- /dev/null
+++ b/PluginExample/README.md
@@ -0,0 +1,88 @@
+# Plugin Example
+
+The Plugin Example is the reference RoboDK Plug-in used as a starting point for new plugins. It showcases the
+Plug-in Interface: registering menu/toolbar actions, adding a docked window, listening to RoboDK events, and
+calling the RoboDK API (`IRoboDK`/`IItem`) directly from C++ for maximum performance.
+
+![Speed benchmark info](benchmark-info.png)
+
+
+## Features
+
+- **Plugin Speed Information** (`Ctrl+I`): runs a benchmark of the RoboDK API on the selected robot (Forward
+  Kinematics, Inverse Kinematics, and collision checking) and reports the results in a docked window.
+- **Program collision check**: optionally checks every step of a program for collisions and reports how many
+  points are in collision vs. collision-free, along with timing statistics.
+- Includes a **System / CPU / RAM** summary of the computer running the benchmark.
+- **Robot Pilot Form**: a docked window to jog the robot by incremental steps (joints or Cartesian, relative to
+  the tool or the reference frame).
+- Right-click integration: the benchmark and robot pilot actions are added to the context menu of objects and
+  robots in the station tree.
+
+## Usage
+
+1. Select **Tools-Plug-Ins** in RoboDK and load **PluginExample** if it is not already loaded.
+2. Use the **Plugin Example** menu or toolbar:
+   - **Plugin Speed Information** (or `Ctrl+I`): pick a robot to benchmark. You can then optionally pick a
+     program to run a collision check against; if a program named `Main` exists, it is used automatically.
+   - **Robot Pilot Form**: opens the jog panel described above.
+   - **RoboDK Plugins - Help**: opens the RoboDK Plug-in documentation in your browser.
+3. Results are shown in a docked report (HTML table) and are also printed as an aligned plain-text table in
+   the console/debug output, which is useful when there is no GUI available (see below).
+
+
+## Files
+
+| File | Description |
+|------|--------------|
+| `pluginexample.h` / `.cpp` | Plugin entry point: `IAppRoboDK` implementation, menu/toolbar setup, benchmark logic |
+| `formrobotpilot.h` / `.cpp` / `.ui` | Robot Pilot docked widget |
+| `performance_tests.py` | Standalone Python script that runs the same kind of benchmarks using the RoboDK API for Python |
+| `manifest.xml` | Add-in package metadata |
+
+## Getting benchmark results from the command line
+
+The benchmark can be triggered without any user interaction using RoboDK's `-PluginCommand` argument, which
+calls `PluginCommand("BenchmarkInfo", progname)`. This is useful to collect performance stats headlessly, for
+example as part of an automated test or CI run:
+
+```bash
+./RoboDK -NEWINSTANCE -NOUI -SKIPINI -PLUGINLOAD=PluginExample "./RoboDK.app/Contents/Library/01-Robot painting/Painting-with-UR10.rdk" -PluginCommand=BenchmarkInfo=MainProg
+```
+
+- `-NEWINSTANCE`: starts a new RoboDK instance instead of reusing one that is already running.
+- `-NOUI`: runs RoboDK without showing its main window.
+- `-SKIPINI`: skips loading the user's saved settings/station list.
+- `-PLUGINLOAD=PluginExample`: loads this plugin on startup.
+- The quoted path is the RoboDK station (`.rdk`) to open.
+- `-PluginCommand=BenchmarkInfo=MainProg`: runs the benchmark against the program named `MainProg` and prints
+  the results as text to the console — since `-NOUI` means the docked report is never shown, this text output
+  is the only way to read the stats in this scenario.
+
+## Sample results
+
+The previous command was run from the command line for the [Spot welding station with Comau](https://robodk.com/example/Welding-with-Comau-Smart5-NJ-130-2-6) and the following results can be obtained for different systems.
+
+### Results for Apple M5 Pro
+
+```
+Metric                                    Value
+--------------------------------------------------
+Robot                                     Comau Smart5 NJ 130-2.6
+System                                    macOS Tahoe (26.5.2)
+CPU                                       Apple M5 Pro, 15 cores
+RAM                                       24.0 GB
+Forward Kinematics                        0.30 microseconds
+Inverse Kinematics                        1.39 microseconds
+Inverse Kinematics (all solutions)        1.36 microseconds
+Collision check (5 samples)               0.23 ms/sample
+Collision check rate                      4357.14 samples/sec
+Points with collisions                    0
+Points without collisions                 5
+
+-- Program Collision Check: main --
+Collision check (3589 steps)              0.83 ms/step
+Collision check rate                      1203.55 samples/sec
+Points with collisions                    66
+Points without collisions                 3523
+```
\ No newline at end of file
diff --git a/PluginExample/benchmark-info.png b/PluginExample/benchmark-info.png
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diff --git a/PluginExample/pluginexample.h b/PluginExample/pluginexample.h
index 6c5de4b..75772eb 100644
--- a/PluginExample/pluginexample.h
+++ b/PluginExample/pluginexample.h
@@ -53,8 +53,9 @@ class PluginExample : public QObject, IAppRoboDK
 public slots:
     // define button callbacks (or slots) here. They are triggered automatically when the button is selected.
 
-    /// Called when the information button/action is selected
-    void callback_benchmarkInfo();
+    /// Called when the information button/action is selected, or via PluginCommand("BenchmarkInfo", progname)
+    /// \param progname Name of the program to check for collisions. Defaults to "Main" when left empty.
+    void callback_benchmarkInfo(const QString &progname = QString());
 
     /// Called when the robot pilot button/action is selected
     void callback_robotpilot();

From ca19f60721dfdf69084fc84779deb89d0659900e Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Fri, 17 Jul 2026 23:59:21 +0200
Subject: [PATCH 18/28] Update README.md

---
 PluginExample/README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/PluginExample/README.md b/PluginExample/README.md
index 47667a5..ec3547b 100644
--- a/PluginExample/README.md
+++ b/PluginExample/README.md
@@ -47,7 +47,7 @@ calls `PluginCommand("BenchmarkInfo", progname)`. This is useful to collect perf
 example as part of an automated test or CI run:
 
 ```bash
-./RoboDK -NEWINSTANCE -NOUI -SKIPINI -PLUGINLOAD=PluginExample "./RoboDK.app/Contents/Library/01-Robot painting/Painting-with-UR10.rdk" -PluginCommand=BenchmarkInfo=MainProg
+./RoboDK -NEWINSTANCE -NOUI -SKIPINI -PLUGINLOAD=PluginExample "./RoboDK.app/Contents/Library/Welding-with-Comau-Smart5-NJ-130-2-6.rdk" -PluginCommand=BenchmarkInfo=MainProg
 ```
 
 - `-NEWINSTANCE`: starts a new RoboDK instance instead of reusing one that is already running.
@@ -63,6 +63,8 @@ example as part of an automated test or CI run:
 
 The previous command was run from the command line for the [Spot welding station with Comau](https://robodk.com/example/Welding-with-Comau-Smart5-NJ-130-2-6) and the following results can be obtained for different systems.
 
+Note: RoboDK v6 was used which includes important performance improvements for collision checking.
+
 ### Results for Apple M5 Pro
 
 ```

From c97a3a98f0aab3b6ab7cbf4bdaff95f7e7b1cf48 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Sat, 18 Jul 2026 12:57:45 +0200
Subject: [PATCH 19/28] Create run_plugin_benchmark.py

---
 PluginExample/run_plugin_benchmark.py | 93 +++++++++++++++++++++++++++
 1 file changed, 93 insertions(+)
 create mode 100644 PluginExample/run_plugin_benchmark.py

diff --git a/PluginExample/run_plugin_benchmark.py b/PluginExample/run_plugin_benchmark.py
new file mode 100644
index 0000000..5157449
--- /dev/null
+++ b/PluginExample/run_plugin_benchmark.py
@@ -0,0 +1,93 @@
+"""Runs the PluginExample benchmark headlessly against a sample RoboDK station.
+
+This script:
+  1. Downloads a sample station (.rdk) into a temp folder, skipping the download if it is
+     already there.
+  2. Starts a new, headless RoboDK instance.
+  3. Makes sure PluginExample is loaded.
+  4. Opens the downloaded station.
+  5. Triggers the plugin's "BenchmarkInfo" command for a given program.
+  6. Prints the resulting benchmark report, which RoboDK streams to its own console/stdout
+     (Robolink automatically relays it to this script's stdout).
+
+Usage:
+    python run_plugin_benchmark.py
+"""
+
+import os
+import sys
+import tempfile
+import time
+import urllib.request
+
+from robodk import robolink
+
+STATION_URL = "https://cdn.robodk.com/downloads-library/library-stations/Welding-with-Comau-Smart5-NJ-130-2-6.rdk"
+PLUGIN_NAME = "PluginExample"  # Matches PluginExample.pro's TARGET, used to load the plugin
+PLUGIN_ID = "Example Plugin"  # Matches PluginExample::PluginName(), used to target PluginCommand
+PROGRAM_NAME = "MainProg"  # Program to run the collision check against
+
+
+def download_station(url: str) -> str:
+    """Download a station file to a temp folder. Skips the download if it is already there."""
+    temp_dir = os.path.join(tempfile.gettempdir(), "robodk_benchmark")
+    os.makedirs(temp_dir, exist_ok=True)
+
+    filepath = os.path.join(temp_dir, os.path.basename(url))
+    if os.path.exists(filepath):
+        print("Station already downloaded: %s" % filepath)
+        return filepath
+
+    print("Downloading %s ..." % url)
+    request = urllib.request.Request(url, headers={"User-Agent": "Mozilla/5.0"})
+    try:
+        with urllib.request.urlopen(request) as response, open(filepath, "wb") as f:
+            f.write(response.read())
+    except Exception as e:
+        # Clean up a partially written file so a retry does not mistake it for a full download
+        if os.path.exists(filepath):
+            os.remove(filepath)
+        sys.exit("Failed to download %s: %s" % (url, e))
+
+    print("Saved to: %s" % filepath)
+    return filepath
+
+
+def main():
+    station_path = download_station(STATION_URL)
+
+    # Start a new, headless RoboDK instance.
+    # -DEBUG is required for qDebug()-based plugin console output (such as the benchmark
+    # report) to actually be printed; Robolink relays RoboDK's stdout to ours automatically.
+    print("Starting a new headless RoboDK instance...")
+    RDK = robolink.Robolink(args=["-NEWINSTANCE", "-NOUI", "-EXIT_LAST_COM", "-SKIPINI", "-Settings=LicenseLoad"])
+
+    print("Loading plugin: %s" % PLUGIN_NAME)
+    if False:#not RDK.PluginLoad(PLUGIN_NAME):
+        msg = "Failed to load plugin: %s. Are you using the latest version? Is the plugin properly installed?" % PLUGIN_NAME
+        print(msg)
+        sys.exit(msg)
+
+    print("Opening station: %s" % station_path)
+    station = RDK.AddFile(station_path)
+    if not station.Valid():
+        msg = "Failed to open station: %s" % station_path
+        print(msg)
+        sys.exit(msg)
+
+    print("=" * 70)
+    print("Running BenchmarkInfo=%s (output below is streamed live from RoboDK)" % PROGRAM_NAME)
+    print("=" * 70)
+    result = RDK.PluginCommand(PLUGIN_ID, "BenchmarkInfo", PROGRAM_NAME)
+
+    # Give RoboDK's console output a moment to reach us before we close the connection
+    time.sleep(9)
+    print("=" * 70)
+    print("PluginCommand result: %s" % result)
+
+    print("Closing RoboDK...")
+    RDK.CloseRoboDK()
+
+
+if __name__ == "__main__":
+    main()

From 0d59bb96105f5d620d10674c197caafa70d11a3e Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Sun, 19 Jul 2026 16:22:03 +0200
Subject: [PATCH 20/28] Improved tests (requires latest robodk python module)

---
 PluginExample/run_plugin_benchmark.py | 26 +++++++++++++++++---------
 1 file changed, 17 insertions(+), 9 deletions(-)

diff --git a/PluginExample/run_plugin_benchmark.py b/PluginExample/run_plugin_benchmark.py
index 5157449..3801fa6 100644
--- a/PluginExample/run_plugin_benchmark.py
+++ b/PluginExample/run_plugin_benchmark.py
@@ -25,7 +25,7 @@
 STATION_URL = "https://cdn.robodk.com/downloads-library/library-stations/Welding-with-Comau-Smart5-NJ-130-2-6.rdk"
 PLUGIN_NAME = "PluginExample"  # Matches PluginExample.pro's TARGET, used to load the plugin
 PLUGIN_ID = "Example Plugin"  # Matches PluginExample::PluginName(), used to target PluginCommand
-PROGRAM_NAME = "MainProg"  # Program to run the collision check against
+PROGRAM_NAME = "main"  # Program to run the collision check against
 
 
 def download_station(url: str) -> str:
@@ -52,38 +52,46 @@ def download_station(url: str) -> str:
     print("Saved to: %s" % filepath)
     return filepath
 
+def print_custom(txt):
+    global do_print_stdout
+    if do_print_stdout:
+        print(txt)
 
 def main():
+    global do_print_stdout
+    do_print_stdout = False
+
     station_path = download_station(STATION_URL)
 
     # Start a new, headless RoboDK instance.
     # -DEBUG is required for qDebug()-based plugin console output (such as the benchmark
     # report) to actually be printed; Robolink relays RoboDK's stdout to ours automatically.
     print("Starting a new headless RoboDK instance...")
-    RDK = robolink.Robolink(args=["-NEWINSTANCE", "-NOUI", "-EXIT_LAST_COM", "-SKIPINI", "-Settings=LicenseLoad"])
+    RDK = robolink.Robolink(args=["-NEWINSTANCE", "-NOUI", "-EXIT_LAST_COM", "-SKIPINI", "-Settings=LicenseLoad"], close_std_out=print_custom)
+
+    if RDK.Command("LHasMaint") != "1":
+        msg = "You need a license to run collision checking benchmarks"
+        sys.exit(msg)
 
     print("Loading plugin: %s" % PLUGIN_NAME)
-    if False:#not RDK.PluginLoad(PLUGIN_NAME):
+    if not RDK.PluginLoad(PLUGIN_NAME):
         msg = "Failed to load plugin: %s. Are you using the latest version? Is the plugin properly installed?" % PLUGIN_NAME
-        print(msg)
         sys.exit(msg)
 
     print("Opening station: %s" % station_path)
     station = RDK.AddFile(station_path)
     if not station.Valid():
         msg = "Failed to open station: %s" % station_path
-        print(msg)
         sys.exit(msg)
 
     print("=" * 70)
     print("Running BenchmarkInfo=%s (output below is streamed live from RoboDK)" % PROGRAM_NAME)
     print("=" * 70)
+    do_print_stdout = True
     result = RDK.PluginCommand(PLUGIN_ID, "BenchmarkInfo", PROGRAM_NAME)
-
-    # Give RoboDK's console output a moment to reach us before we close the connection
-    time.sleep(9)
+    do_print_stdout = False
     print("=" * 70)
-    print("PluginCommand result: %s" % result)
+    print("Plugin Command result: %s" % result)
 
     print("Closing RoboDK...")
     RDK.CloseRoboDK()

From 91b16c7001f36d78badad803e5e4eefd07bb5954 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Mon, 20 Jul 2026 17:33:16 +0200
Subject: [PATCH 21/28] Adding more results

---
 PluginExample/README.md | 42 ++++++++++++++++++++++++++++++++++++++---
 1 file changed, 39 insertions(+), 3 deletions(-)

diff --git a/PluginExample/README.md b/PluginExample/README.md
index ec3547b..df7bad7 100644
--- a/PluginExample/README.md
+++ b/PluginExample/README.md
@@ -59,13 +59,43 @@ example as part of an automated test or CI run:
   the results as text to the console — since `-NOUI` means the docked report is never shown, this text output
   is the only way to read the stats in this scenario.
 
-## Sample results
+## Performance results
 
-The previous command was run from the command line for the [Spot welding station with Comau](https://robodk.com/example/Welding-with-Comau-Smart5-NJ-130-2-6) and the following results can be obtained for different systems.
+The command from the previous section was run from the command line for the [Spot welding station with Comau](https://robodk.com/example/Welding-with-Comau-Smart5-NJ-130-2-6) using RoboDK v6.0.6.
+
+The following results can be obtained for different systems.
 
 Note: RoboDK v6 was used which includes important performance improvements for collision checking.
 
-### Results for Apple M5 Pro
+### Results on Windows/PC
+
+Using Intel Core i9-14900KF @3.19 GHz
+
+```
+Metric                                    Value
+--------------------------------------------------
+Robot                                     Comau Smart5 NJ 130-2.6
+System                                    Windows 11 Version 2009
+CPU                                       Intel(R) Core(TM) i9-14900KF, 32 cores @ 3.19 GHz
+RAM                                       31.8 GB
+Forward Kinematics                        0.61 microseconds
+Inverse Kinematics                        2.00 microseconds
+Inverse Kinematics (all solutions)        2.23 microseconds
+Collision check (5 samples)               1.34 ms/sample
+Collision check rate                      743.55 samples/sec
+Points with collisions                    0
+Points without collisions                 5
+
+-- Program Collision Check: main --
+Collision check (3589 steps)              4.57 ms/step
+Collision check rate                      218.99 samples/sec
+Points with collisions                    66
+Points without collisions                 3523
+```
+
+### Results for Apple
+
+### M5 Pro and Silicon build
 
 ```
 Metric                                    Value
@@ -87,4 +117,10 @@ Collision check (3589 steps)              0.83 ms/step
 Collision check rate                      1203.55 samples/sec
 Points with collisions                    66
 Points without collisions                 3523
+```
+
+### M1 and an Intel build
+
+```
+
 ```
\ No newline at end of file

From aef05bbe28d5a6602a21dd2e55f8d7cb89c6eef0 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Mon, 20 Jul 2026 17:34:22 +0200
Subject: [PATCH 22/28] Update README.md

---
 PluginExample/README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/PluginExample/README.md b/PluginExample/README.md
index df7bad7..cf30929 100644
--- a/PluginExample/README.md
+++ b/PluginExample/README.md
@@ -93,9 +93,9 @@ Points with collisions                    66
 Points without collisions                 3523
 ```
 
-### Results for Apple
+### Results on Apple
 
-### M5 Pro and Silicon build
+### M5 Pro and Apple Silicon build
 
 ```
 Metric                                    Value
@@ -119,7 +119,7 @@ Points with collisions                    66
 Points without collisions                 3523
 ```
 
-### M1 and an Intel build
+### M1 and Intel build
 
 ```
 

From 0db0c49a6b4e97c14f9135242753d6f108992dc4 Mon Sep 17 00:00:00 2001
From: RoboDK <37006818+RoboDK@users.noreply.github.com>
Date: Mon, 20 Jul 2026 20:25:50 +0200
Subject: [PATCH 23/28] Added benchmark data

---
 PluginExample/README.md | 47 +++++++++++++++++++++++++++++++++++++++--
 1 file changed, 45 insertions(+), 2 deletions(-)

diff --git a/PluginExample/README.md b/PluginExample/README.md
index cf30929..1660074 100644
--- a/PluginExample/README.md
+++ b/PluginExample/README.md
@@ -95,7 +95,7 @@ Points without collisions                 3523
 
 ### Results on Apple
 
-### M5 Pro and Apple Silicon build
+### Apple M5 Pro and Apple Silicon build
 
 ```
 Metric                                    Value
@@ -119,8 +119,51 @@ Points with collisions                    66
 Points without collisions                 3523
 ```
 
-### M1 and Intel build
+### Apple M1 and Apple Silicon build
 
 ```
+Metric                                    Value
+--------------------------------------------------
+Robot                                     Comau Smart5 NJ 130-2.6
+System                                    macOS Tahoe (26.5)
+CPU                                       Apple M1, 8 cores
+RAM                                       16.0 GB
+Forward Kinematics                        0.99 microseconds
+Inverse Kinematics                        3.59 microseconds
+Inverse Kinematics (all solutions)        2.65 microseconds
+Collision check (5 samples)               0.24 ms/sample
+Collision check rate                      4196.39 samples/sec
+Points with collisions                    0
+Points without collisions                 5
+
+-- Program Collision Check: main --
+Collision check (3589 steps)              1.38 ms/step
+Collision check rate                      724.92 samples/sec
+Points with collisions                    66
+Points without collisions                 3523
+```
+
 
+### Apple M1 and Intel build
+
+```
+Metric                                    Value
+--------------------------------------------------
+Robot                                     Comau Smart5 NJ 130-2.6
+System                                    macOS Tahoe (26.5)
+CPU                                       Apple M1, 8 cores @ 2.40 GHz
+RAM                                       16.0 GB
+Forward Kinematics                        2.09 microseconds
+Inverse Kinematics                        6.16 microseconds
+Inverse Kinematics (all solutions)        5.24 microseconds
+Collision check (5 samples)               0.31 ms/sample
+Collision check rate                      3219.49 samples/sec
+Points with collisions                    0
+Points without collisions                 5
+
+-- Program Collision Check: main --
+Collision check (3589 steps)              1.41 ms/step
+Collision check rate                      707.07 samples/sec
+Points with collisions                    66
+Points without collisions                 3523
 ```
\ No newline at end of file

From 48df6734f403413313ddf92dba8e15e5b6ee1790 Mon Sep 17 00:00:00 2001
From: RoboDK <anubiola@robodk.com>
Date: Tue, 21 Jul 2026 14:20:59 +0200
Subject: [PATCH 24/28] Added benchmark data

---
 PluginExample/README.md | 26 +++++++++++++++++++++++++-
 1 file changed, 25 insertions(+), 1 deletion(-)

diff --git a/PluginExample/README.md b/PluginExample/README.md
index 1660074..87999c1 100644
--- a/PluginExample/README.md
+++ b/PluginExample/README.md
@@ -69,7 +69,7 @@ Note: RoboDK v6 was used which includes important performance improvements for c
 
 ### Results on Windows/PC
 
-Using Intel Core i9-14900KF @3.19 GHz
+Using Intel Core i9-14900KF @3.19 GHz (Desktop PC)
 
 ```
 Metric                                    Value
@@ -93,6 +93,30 @@ Points with collisions                    66
 Points without collisions                 3523
 ```
 
+Using Using Intel Core i7-1165G7 @2.8 GHz (Laptop PC)
+
+```
+Metric                                    Value
+--------------------------------------------------
+Robot                                     Comau Smart5 NJ 130-2.6
+System                                    Windows 11 Version 2009
+CPU                                       11th Gen Intel(R) Core(TM) i7-1165G7 @ 2.80GHz, 8 cores @ 2.80 GHz
+RAM                                       15.6 GB
+Forward Kinematics                        1.57 microseconds
+Inverse Kinematics                        11.36 microseconds
+Inverse Kinematics (all solutions)        11.88 microseconds
+Collision check (5 samples)               1.91 ms/sample
+Collision check rate                      523.58 samples/sec
+Points with collisions                    0
+Points without collisions                 5
+
+-- Program Collision Check: main --
+Collision check (3589 steps)              12.07 ms/step
+Collision check rate                      82.88 samples/sec
+Points with collisions                    66
+Points without collisions                 3523
+```
+
 ### Results on Apple
 
 ### Apple M5 Pro and Apple Silicon build

From 8a47f70b4f3d0ae04a135c6b975dc283b6be9ec2 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Tue, 21 Jul 2026 18:44:18 +0200
Subject: [PATCH 25/28] Update README.md

---
 PluginExample/README.md | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/PluginExample/README.md b/PluginExample/README.md
index 87999c1..37febf6 100644
--- a/PluginExample/README.md
+++ b/PluginExample/README.md
@@ -1,6 +1,6 @@
 # Plugin Example
 
-The Plugin Example is the reference RoboDK Plug-in used as a starting point for new plugins. It showcases the
+Plugin Example is the reference RoboDK Plug-in used as a starting point for developing new plug-ins. It demonstrates the
 Plug-in Interface: registering menu/toolbar actions, adding a docked window, listening to RoboDK events, and
 calling the RoboDK API (`IRoboDK`/`IItem`) directly from C++ for maximum performance.
 
@@ -21,13 +21,13 @@ calling the RoboDK API (`IRoboDK`/`IItem`) directly from C++ for maximum perform
 
 ## Usage
 
-1. Select **Tools-Plug-Ins** in RoboDK and load **PluginExample** if it is not already loaded.
+1. Select **Tools-Plug-Ins** in RoboDK and double click on **PluginExample** if it is not already loaded.
 2. Use the **Plugin Example** menu or toolbar:
    - **Plugin Speed Information** (or `Ctrl+I`): pick a robot to benchmark. You can then optionally pick a
      program to run a collision check against; if a program named `Main` exists, it is used automatically.
-   - **Robot Pilot Form**: opens the jog panel described above.
-   - **RoboDK Plugins - Help**: opens the RoboDK Plug-in documentation in your browser.
-3. Results are shown in a docked report (HTML table) and are also printed as an aligned plain-text table in
+   - **Robot Pilot Form**: Opens the jog panel described above.
+   - **RoboDK Plugins - Help**: Opens the RoboDK Plug-in documentation in your browser.
+3. Results are displayed as a table in a docked windo and are also printed as an aligned plain-text table in
    the console/debug output, which is useful when there is no GUI available (see below).
 
 
@@ -44,10 +44,10 @@ calling the RoboDK API (`IRoboDK`/`IItem`) directly from C++ for maximum perform
 
 The benchmark can be triggered without any user interaction using RoboDK's `-PluginCommand` argument, which
 calls `PluginCommand("BenchmarkInfo", progname)`. This is useful to collect performance stats headlessly, for
-example as part of an automated test or CI run:
+example as part of an automated test or CI (Continuous Integration) workflow:
 
 ```bash
-./RoboDK -NEWINSTANCE -NOUI -SKIPINI -PLUGINLOAD=PluginExample "./RoboDK.app/Contents/Library/Welding-with-Comau-Smart5-NJ-130-2-6.rdk" -PluginCommand=BenchmarkInfo=MainProg
+./RoboDK -NEWINSTANCE -NOUI -SKIPINI -PLUGINLOAD=PluginExample "C:/RoboDK/Library/Welding-with-Comau-Smart5-NJ-130-2-6.rdk" -PluginCommand=BenchmarkInfo=MainProg
 ```
 
 - `-NEWINSTANCE`: starts a new RoboDK instance instead of reusing one that is already running.
@@ -57,15 +57,17 @@ example as part of an automated test or CI run:
 - The quoted path is the RoboDK station (`.rdk`) to open.
 - `-PluginCommand=BenchmarkInfo=MainProg`: runs the benchmark against the program named `MainProg` and prints
   the results as text to the console — since `-NOUI` means the docked report is never shown, this text output
-  is the only way to read the stats in this scenario.
+  is the only way to read the stats in this scenario. If you trigger this action manually you can run RoboDK using the -DEBUG command line option (C:/RoboDK/RoboDK-Debug.bat) to save the console output as a text file.
 
-## Performance results
+## Performance results (RoboDK v6)
 
 The command from the previous section was run from the command line for the [Spot welding station with Comau](https://robodk.com/example/Welding-with-Comau-Smart5-NJ-130-2-6) using RoboDK v6.0.6.
 
 The following results can be obtained for different systems.
 
-Note: RoboDK v6 was used which includes important performance improvements for collision checking.
+RoboDK v6 was used to generate these reports. RoboDK v6 includes important performance improvements for collision checking compared to previous versions.
+
+Note on benchmarking: These results illustrate RoboDK performance on the systems tested and should not be interpreted as a controlled comparison of the processors or operating systems. Performance may vary depending on the RoboDK build, station complexity, collision settings, system configuration, power settings, and background processes. 
 
 ### Results on Windows/PC
 

From c1cd89cbff74c7ebd2122a7e1b95c2a616f1cc3d Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Tue, 21 Jul 2026 19:01:31 +0200
Subject: [PATCH 26/28] Improved readme

---
 PluginExample/README.md                       | 60 ++++++++++++-------
 ...formance_tests.py => run_api_benchmark.py} |  1 +
 2 files changed, 39 insertions(+), 22 deletions(-)
 rename PluginExample/{performance_tests.py => run_api_benchmark.py} (97%)

diff --git a/PluginExample/README.md b/PluginExample/README.md
index 37febf6..3eaa1e6 100644
--- a/PluginExample/README.md
+++ b/PluginExample/README.md
@@ -4,7 +4,7 @@ Plugin Example is the reference RoboDK Plug-in used as a starting point for deve
 Plug-in Interface: registering menu/toolbar actions, adding a docked window, listening to RoboDK events, and
 calling the RoboDK API (`IRoboDK`/`IItem`) directly from C++ for maximum performance.
 
-![Speed benchmark info](benchmark-info.png)
+![Speed benchmark docked window showing kinematics and collision timing results](benchmark-info.png)
 
 
 ## Features
@@ -21,23 +21,24 @@ calling the RoboDK API (`IRoboDK`/`IItem`) directly from C++ for maximum perform
 
 ## Usage
 
-1. Select **Tools-Plug-Ins** in RoboDK and double click on **PluginExample** if it is not already loaded.
+1. Select **Tools → Plug-Ins** in RoboDK and double click on **PluginExample** if it is not already loaded.
 2. Use the **Plugin Example** menu or toolbar:
    - **Plugin Speed Information** (or `Ctrl+I`): pick a robot to benchmark. You can then optionally pick a
      program to run a collision check against; if a program named `Main` exists, it is used automatically.
-   - **Robot Pilot Form**: Opens the jog panel described above.
-   - **RoboDK Plugins - Help**: Opens the RoboDK Plug-in documentation in your browser.
-3. Results are displayed as a table in a docked windo and are also printed as an aligned plain-text table in
+   - **Robot Pilot Form**: opens the jog panel described above.
+   - **RoboDK Plugins - Help**: opens the RoboDK Plug-in documentation in your browser.
+3. Results are displayed as a table in a docked window and are also printed as an aligned plain-text table in
    the console/debug output, which is useful when there is no GUI available (see below).
 
 
 ## Files
 
 | File | Description |
-|------|--------------|
+|------|-------------|
 | `pluginexample.h` / `.cpp` | Plugin entry point: `IAppRoboDK` implementation, menu/toolbar setup, benchmark logic |
 | `formrobotpilot.h` / `.cpp` / `.ui` | Robot Pilot docked widget |
-| `performance_tests.py` | Standalone Python script that runs the same kind of benchmarks using the RoboDK API for Python |
+| `run_api_benchmark.py` | Standalone Python script that runs the same kind of benchmarks using the RoboDK API for Python |
+| `run_plugin_benchmark.py` | Python helper that downloads the sample station, starts a headless RoboDK instance, loads this plugin, and runs the benchmark automatically via `robolink` |
 | `manifest.xml` | Add-in package metadata |
 
 ## Getting benchmark results from the command line
@@ -56,22 +57,38 @@ example as part of an automated test or CI (Continuous Integration) workflow:
 - `-PLUGINLOAD=PluginExample`: loads this plugin on startup.
 - The quoted path is the RoboDK station (`.rdk`) to open.
 - `-PluginCommand=BenchmarkInfo=MainProg`: runs the benchmark against the program named `MainProg` and prints
-  the results as text to the console — since `-NOUI` means the docked report is never shown, this text output
-  is the only way to read the stats in this scenario. If you trigger this action manually you can run RoboDK using the -DEBUG command line option (C:/RoboDK/RoboDK-Debug.bat) to save the console output as a text file.
+  the results as text to the console. Since `-NOUI` means the docked report is never shown, this text output
+  is the only way to read the stats in this scenario. To save the output to a file when triggering the action
+  manually, launch RoboDK with the `-DEBUG` flag (`C:/RoboDK/RoboDK-Debug.bat` on Windows).
+
+Alternatively, `run_plugin_benchmark.py` automates the same steps via the Python `robolink` API: it downloads
+the sample station, starts a headless RoboDK instance, loads the plugin, and streams the benchmark output to
+stdout.
 
 ## Performance results (RoboDK v6)
 
-The command from the previous section was run from the command line for the [Spot welding station with Comau](https://robodk.com/example/Welding-with-Comau-Smart5-NJ-130-2-6) using RoboDK v6.0.6.
+The following results were obtained using the
+[Spot welding station with Comau](https://robodk.com/example/Welding-with-Comau-Smart5-NJ-130-2-6) and
+RoboDK v6.0.6. RoboDK v6 includes important performance improvements for collision checking compared to
+previous versions.
 
-The following results can be obtained for different systems.
+> **Note:** These results illustrate RoboDK performance on the systems tested and should not be interpreted
+> as a controlled comparison of processors or operating systems. Performance may vary depending on the RoboDK
+> build, station complexity, collision settings, system configuration, power settings, and background processes.
 
-RoboDK v6 was used to generate these reports. RoboDK v6 includes important performance improvements for collision checking compared to previous versions.
+### Summary
 
-Note on benchmarking: These results illustrate RoboDK performance on the systems tested and should not be interpreted as a controlled comparison of the processors or operating systems. Performance may vary depending on the RoboDK build, station complexity, collision settings, system configuration, power settings, and background processes. 
+| System | Forward Kinematics | Inverse Kinematics | Collision rate (5 samples) | Collision rate (full program) |
+|--------|-------------------:|-------------------:|---------------------------:|------------------------------:|
+| i9-14900KF — Windows (Desktop) | 0.61 µs | 2.00 µs | 744 samples/sec | 219 samples/sec |
+| i7-1165G7 — Windows (Laptop) | 1.57 µs | 11.36 µs | 524 samples/sec | 83 samples/sec |
+| Apple M5 Pro — native build | 0.30 µs | 1.39 µs | 4357 samples/sec | 1204 samples/sec |
+| Apple M1 — native build | 0.99 µs | 3.59 µs | 4196 samples/sec | 725 samples/sec |
+| Apple M1 — Intel build (Rosetta 2) | 2.09 µs | 6.16 µs | 3219 samples/sec | 707 samples/sec |
 
-### Results on Windows/PC
+### Results on Windows
 
-Using Intel Core i9-14900KF @3.19 GHz (Desktop PC)
+#### Intel Core i9-14900KF @ 3.19 GHz (Desktop PC)
 
 ```
 Metric                                    Value
@@ -95,7 +112,7 @@ Points with collisions                    66
 Points without collisions                 3523
 ```
 
-Using Using Intel Core i7-1165G7 @2.8 GHz (Laptop PC)
+#### Intel Core i7-1165G7 @ 2.8 GHz (Laptop PC)
 
 ```
 Metric                                    Value
@@ -119,9 +136,9 @@ Points with collisions                    66
 Points without collisions                 3523
 ```
 
-### Results on Apple
+### Results on macOS
 
-### Apple M5 Pro and Apple Silicon build
+#### Apple M5 Pro — Apple Silicon build
 
 ```
 Metric                                    Value
@@ -145,7 +162,7 @@ Points with collisions                    66
 Points without collisions                 3523
 ```
 
-### Apple M1 and Apple Silicon build
+#### Apple M1 — Apple Silicon build
 
 ```
 Metric                                    Value
@@ -169,8 +186,7 @@ Points with collisions                    66
 Points without collisions                 3523
 ```
 
-
-### Apple M1 and Intel build
+#### Apple M1 — Intel build (Rosetta 2)
 
 ```
 Metric                                    Value
@@ -192,4 +208,4 @@ Collision check (3589 steps)              1.41 ms/step
 Collision check rate                      707.07 samples/sec
 Points with collisions                    66
 Points without collisions                 3523
-```
\ No newline at end of file
+```
diff --git a/PluginExample/performance_tests.py b/PluginExample/run_api_benchmark.py
similarity index 97%
rename from PluginExample/performance_tests.py
rename to PluginExample/run_api_benchmark.py
index 14dfde8..7ee194b 100644
--- a/PluginExample/performance_tests.py
+++ b/PluginExample/run_api_benchmark.py
@@ -1,4 +1,5 @@
 # Run some performance tests of RoboDK using the RoboDK API for Python
+# Note: for best performance you should use the API through the plug-in interface. Check the README.md file to learn more.
 
 # You can also use the new version of the API:
 from robodk import robolink    # RoboDK API

From 560af37f72f9a0ae9dabfac01a653d8c7a896b9c Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Wed, 22 Jul 2026 00:59:08 +0200
Subject: [PATCH 27/28] added robodk api version requirement for 6.x

---
 PluginExample/run_api_benchmark.py    |  4 +++-
 PluginExample/run_plugin_benchmark.py | 23 ++++++++++++++++++++++-
 2 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/PluginExample/run_api_benchmark.py b/PluginExample/run_api_benchmark.py
index 7ee194b..b3705b8 100644
--- a/PluginExample/run_api_benchmark.py
+++ b/PluginExample/run_api_benchmark.py
@@ -3,12 +3,14 @@
 
 # You can also use the new version of the API:
 from robodk import robolink    # RoboDK API
-from robodk import robomath    # Robot toolbox
+# from robodk import robomath    # Robot toolbox
 import random
 import time
 import platform
 import os
 
+
+
 robolink.import_install("psutil")
 
 # Detailed CPU frequency/usage and RAM stats need psutil (pip install psutil).
diff --git a/PluginExample/run_plugin_benchmark.py b/PluginExample/run_plugin_benchmark.py
index 3801fa6..2e3a9d3 100644
--- a/PluginExample/run_plugin_benchmark.py
+++ b/PluginExample/run_plugin_benchmark.py
@@ -17,7 +17,6 @@
 import os
 import sys
 import tempfile
-import time
 import urllib.request
 
 from robodk import robolink
@@ -27,6 +26,28 @@
 PLUGIN_ID = "Example Plugin"  # Matches PluginExample::PluginName(), used to target PluginCommand
 PROGRAM_NAME = "main"  # Program to run the collision check against
 
+from importlib.metadata import version, PackageNotFoundError
+
+MIN_ROBODK_VERSION = "6.0.0"
+
+
+def check_robodk_version(min_version=MIN_ROBODK_VERSION):
+    """Make sure the installed robodk package meets the minimum required version."""
+    try:
+        installed_version = version("robodk")
+    except PackageNotFoundError:
+        sys.exit("Could not find the 'robodk' package version. Run: pip install --upgrade robodk")
+
+    installed_tuple = tuple(int(part) for part in installed_version.split(".")[:3])
+    min_tuple = tuple(int(part) for part in min_version.split(".")[:3])
+    if installed_tuple < min_tuple:
+        sys.exit("This script requires robodk >= %s (found %s). This is needed to show the results in the console. Run: pip install --upgrade robodk" % (min_version, installed_version))
+
+    print("robodk package version: %s (OK, >= %s)" % (installed_version, min_version))
+
+
+check_robodk_version()
+
 
 def download_station(url: str) -> str:
     """Download a station file to a temp folder. Skips the download if it is already there."""

From bd5fd7c0298eb074e9dd90a6fcd793251e02cbc1 Mon Sep 17 00:00:00 2001
From: Albert <albert.nubiola@gmail.com>
Date: Thu, 23 Jul 2026 15:44:13 +0200
Subject: [PATCH 28/28] tested and working with official Python release

---
 PluginExample/run_plugin_benchmark.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/PluginExample/run_plugin_benchmark.py b/PluginExample/run_plugin_benchmark.py
index 2e3a9d3..5851766 100644
--- a/PluginExample/run_plugin_benchmark.py
+++ b/PluginExample/run_plugin_benchmark.py
@@ -16,6 +16,7 @@
 
 import os
 import sys
+import time
 import tempfile
 import urllib.request
 
@@ -110,9 +111,11 @@ def main():
     print("=" * 70)
     do_print_stdout = True
     result = RDK.PluginCommand(PLUGIN_ID, "BenchmarkInfo", PROGRAM_NAME)
-    do_print_stdout = False
     print("=" * 70)
     print("Plugin Command result: %s" % result)
+    # Flushing the stdout channel is done on a separate thread in robolink and it may take some time. If we turn it off, let's wait some time
+    time.sleep(1)
+    do_print_stdout = False
 
     print("Closing RoboDK...")
     RDK.CloseRoboDK()