A question in petercorke code for robot

类 SE3 没有名为 'convert' 的常量属性或静态方法。

(There is not attribute or method which named 'convert' in class SE3)

出错 SerialLink/ikine (line 112)

TT = SE3.convert(tr);

出错 FourLegs (line 22)

Error FourLegs (line22)

qcycle=leg.ikine( transl(p),[],[1 1 1 0 0 0]);

How to fix it? Thanks