A bug to RTB10.1

[marooncn]

When I use RIB10.1 to plot my robot, there is an error：

Prismatic joint(s) present: requires the 'workspace' option

I know it 's because there is a prismatic joint in my robot, but when I add workspace option the error still exists. At last I return back to RTB9.10 and excute the code, there is no bug this time. And I refer to the manual it's not included in the incompatible changes. So I think maybe it's a bug in the new version. My code lists as below. L(1) = Link([0,0.363,0.300,0,0],'standard'); L(2) = Link([0,0,0.260,pi,0],'standard'); L(3) = Link([0,0,0,0,1],'standard'); L(3).qlim = [0,0.3]; L(4) = Link([0,0,0,0,0],'standard'); RobotArm = SerialLink(L,'name','SCARA') RobotArm.plot([0 0 0 0],'workspace',[-1 1 -1 1 -1 1])

The effect of RTB9.10

[Johnmper]

Reading the library code i don't really understand the reason to output an error in case an prismatic joint is found, since the variable reach is calculated after the error checking for prismatic joints. Just commented the code in the library, and it works fine for me.

(line 753-755)
%if any(L.isprismatic)
%    error('Prismatic joint(s) present: requires the ''workspace'' option');
%end

        (...)
            if isempty(opt.reach)
                %
                % simple heuristic to figure the maximum reach of the robot
                %

                assert(~isempty(robot), 'RTB:RTBPlot:plot_options', 'robot must be defined to estimate reach');
                L = robot.links;
                %if any(L.isprismatic)
                %    error('Prismatic joint(s) present: requires the ''workspace'' option');
                %end
                reach = 0;
                for i=1:robot.n
                    if L(i).isrevolute
                        reach = reach + abs(L(i).a) + abs(L(i).d);
                    else
                        reach = reach + abs(L(i).a) + max(abs(L(i).qlim));
                    end
                end
                reach = reach + sum(abs(robot.tool.t));
            else
                reach = opt.reach;
            end
        (...)

[Johnmper]

Can also add manually the reach option in plot function, although it isn't in the documentation the function tb_optparse accepts it just fine. (In case you don't want to change library code)

L(1) = Link([0,0.363,0.300,0,0],'standard');
L(2) = Link([0,0,0.260,pi,0],'standard');
L(3) = Link([0,0,0,0,1],'standard');
L(3).qlim = [0,0.3];
L(4) = Link([0,0,0,0,0],'standard');
RobotArm = SerialLink(L,'name','SCARA')
RobotArm.plot([0 0 0 0],'workspace',[-1 1 -1 1 -1 1],'reach',1)

[ErikvOene]

I think this issue is fixed. At least I was not able to reproduce this error (in master branch) using the following

L(1) = Link([0,0.363,0.300,0,0],'standard');
L(2) = Link([0,0,0.260,pi,0],'standard'); 
L(3) = Link([0,0,0,0,1],'standard');
L(3).qlim = [0,0.3];
L(4) = Link([0,0,0,0,0],'standard');
RobotArm = SerialLink(L,'name','SCARA') 
RobotArm.plot([0 0 0 0],'workspace',[-1 1 -1 1 -1 1])