DrawRefFrame with 'hat'
There seems to be a bug here: https://gitlab.fel.cvut.cz/body-schema/code-calib-multirobot/-/blob/master/Visualisation/DrawRefFrame.m#L57
Original IIT code has:
h = text(z_axis_1(1), z_axis_1(2), z_axis_1(3), strcat('$\hat{z_{', num2str(num-1), '}}$'),'Interpreter','latex');```