Trouble calling .teach method on mdl_ objects from RVC1 in Matlab 2023b

[rojas70]

Greetings,

I have installed rtb10.4 and rvctools within Matlab 2023b.

In creating robot models to study forward kinematics, I can successfully call script

mdl_planar1

Object p1 is successfully created and it's class is SerialLink.

However, when I call teach on it, p1.teach, an error occurs at rvctools\robot\@SerialLink\plot.m:L469.

The block 465 to 470 is:

if opt.wrist
        if opt.arrow
            % compute arrow3 scale factor...
            d = axis(gca);
            d = norm( d(4:6)-d(1:3) ) / 72;
            extra = {'arrow', 'width', 1.5*s/d};

where, d= -1 1 -1 1 for the planar1 model.

Nonetheless, L469 is asking for dimensions 4:6. I wonder what might have changed, I know this used to work flawlessly.

Note:

• I also realize I can interact with the robot via the ETS (python) module via import ETS or ETS2 and its teach method. I am wondering if the mdl_planar1 is still possible to use.

[rojas70]

Apparently I had an older version of rvctools that I had not detected. Some of the code was out of date with what is available in RBT10.4.

Upon updating the toolbox the errors disappeared.