Hello and welcome to just answer and allowing me to assist you.
Have you tried using the Toyota scan tool to clear the code, or a generic one? This is not a system that is serviceable and is generally "fixed" by replacing it... that is if the fault is a permanent one, rather than a one time problem sort of thing. This sort of thing is the "plague" that these hybrid cars have... real expensive sensitive units....
I would advise you to get it to Toyota ASAP and hope you can get it done under warranty... what is the warranty for the hybrid system? 6yr 100k miles? This is NOT a system that you should even be contemplating fixing. Here is some more detailed information regarding the problem:
DTC C1310/51 MALFUNCTION IN HV SYSTEM
CIRCUIT DESCRIPTIONThe skid control ECU communicates with the hybrid control ECU and controls braking force according to the motor's regenerative force. The skid control ECU sends Enhanced VSC signal to the hybrid control ECU and inputs operating signal from the hybrid control ECU. The skid control ECU uses CAN communication for communication with the hybrid control ECU. If a communication malfunction is memorized, the skid control ECU prohibits Enhanced VSC operation and a part of ECB control by fail safe function.
The traction control prohibition signal is received for at least 0.07 sec. when IG2 terminal voltage is 10.5V or more for at least 1.5 sec. and communication with hybrid control computer is valid.
Hybrid control system
This DTC is output from the skid control ECU when the hybrid control ECU sends a malfunction signal to the skid control ECU.
CHECK HYBRID CONTROL SYSTEM H0PE this helps your decision easier and answers your question, I'f you require further assistance I;ll be happy to do so.