MATLAB: How to generate code from rigidBodyTree or inverseKinematics object

code generationRobotics System Toolbox

Error is:

Handle Classes in top-level outputs are not supported in MATLAB Coder. Output parameter 'robot' contains a handle class.

You can find answer to a similar question here

Handle objects are not supported as entry point input / ouput for codegeneration :

Please try to modify your code to take non-handle class / structure as entrypoint input.

The third parameter of addBody needs to be the name of the parent body, not the name of the body itself. The body knows its own name. So

addBody(PHA9, body1, 'body0')