With these 2 scripts in Caja context menu, you can print files directly, there's no need to open them :
Check that Cups is installed.
1) Print ALL the PDF files contained in a folder.
for FILE in *.pdf *.PDF ; do lpr "$FILE" ; done
Copy to a text editor, save as "Print ALL PDFs in the folder" and give permission to allow executing file as program.
Put it in the script folder of Mate (CTRL H to show hidden files):
so you can have it in the context menu - Script.
With this script, all pdf files are printed, even if only one is selected.
2) Print selected PDF files (it works for me with PDF, JPEG and PNG, TXT but not with the libreoffice formats):
echo "$CAJA_SCRIPT_SELECTED_FILE_PATHS" | while read file
lpr -P "$printer" "$file"
Do the same procedure to allow execution and put it in the script folder.
Replace the printer name, which can be obtained by the command on terminal
lpstat -p -d
or see the /etc/cups/printers.conf file