prompt: We are currently solving the following issue within our repository. Here is the issue text:
  --- BEGIN ISSUE ---
  Update examples
  Examples are now out of sync with current codebase. Potential use for iPython?
  
  --- END ISSUE ---
  
  Below are some code segments, each from a relevant file. One or more of these files may contain bugs.
  --- BEGIN FILES ---
  Path: `examples/example_robot.py`
  Content:
  ```
  1 import copy
  2 
  3 import pybotics as py
  4 import numpy as np
  5 
  6 # set numpy print options
  7 np.set_printoptions(precision=3)
  8 np.set_printoptions(suppress=True)
  9 
  10 # create robot
  11 model = np.loadtxt('ur10-mdh.csv', delimiter=',')
  12 robot = py.Robot(model)
  13 
  14 print('Robot Model:\n{}\n'.format(robot.robot_model))
  15 
  16 # demonstrate forward kinematics
  17 joints = [0] * robot.num_dof()
  18 pose = robot.fk(joints)
  19 
  20 print('Pose:\n{}\n'.format(pose))
  21 
  22 # demonstrate inverse kinematics
  23 new_joints = robot.ik(pose)
  24 print('Solved Joints:\n{}\n'.format(new_joints))
  25
  ```
  --- END FILES ---
  
  Please first localize the bug based on the issue statement, and then generate a patch according to the `git diff` format fenced by three backticks.
  
  Here is an example:
  
  ```diff
  diff --git a/examples/server_async.py b/examples/server_async.py
  --- a/examples/server_async.py
  +++ b/examples/server_async.py
  @@ -313,4 +313,4 @@
   
   
   if __name__ == "__main__":
  -    asyncio.run(run_async_server("."), debug=True)
  +    asyncio.run(run_async_server(), debug=True)
  diff --git a/examples/server_sync.py b/examples/server_sync.py
  --- a/examples/server_sync.py
  +++ b/examples/server_sync.py
  @@ -313,5 +313,5 @@
   
   
   if __name__ == "__main__":
  -    server = run_sync_server(".")
  +    server = run_sync_server()
       server.shutdown()
  
  ```
  
golden_diff: diff --git a/examples/example_robot.py b/examples/example_robot.py
  deleted file mode 100644
  --- a/examples/example_robot.py
  +++ /dev/null
  @@ -1,24 +0,0 @@
  -import copy
  -
  -import pybotics as py
  -import numpy as np
  -
  -# set numpy print options
  -np.set_printoptions(precision=3)
  -np.set_printoptions(suppress=True)
  -
  -# create robot
  -model = np.loadtxt('ur10-mdh.csv', delimiter=',')
  -robot = py.Robot(model)
  -
  -print('Robot Model:\n{}\n'.format(robot.robot_model))
  -
  -# demonstrate forward kinematics
  -joints = [0] * robot.num_dof()
  -pose = robot.fk(joints)
  -
  -print('Pose:\n{}\n'.format(pose))
  -
  -# demonstrate inverse kinematics
  -new_joints = robot.ik(pose)
  -print('Solved Joints:\n{}\n'.format(new_joints))
  
verification_info: {"golden_diff": "diff --git a/examples/example_robot.py b/examples/example_robot.py\ndeleted file mode 100644\n--- a/examples/example_robot.py\n+++ /dev/null\n@@ -1,24 +0,0 @@\n-import copy\n-\n-import pybotics as py\n-import numpy as np\n-\n-# set numpy print options\n-np.set_printoptions(precision=3)\n-np.set_printoptions(suppress=True)\n-\n-# create robot\n-model = np.loadtxt('ur10-mdh.csv', delimiter=',')\n-robot = py.Robot(model)\n-\n-print('Robot Model:\\n{}\\n'.format(robot.robot_model))\n-\n-# demonstrate forward kinematics\n-joints = [0] * robot.num_dof()\n-pose = robot.fk(joints)\n-\n-print('Pose:\\n{}\\n'.format(pose))\n-\n-# demonstrate inverse kinematics\n-new_joints = robot.ik(pose)\n-print('Solved Joints:\\n{}\\n'.format(new_joints))\n", "issue": "Update examples\nExamples are now out of sync with current codebase. Potential use for iPython?\n", "before_files": [{"content": "import copy\n\nimport pybotics as py\nimport numpy as np\n\n# set numpy print options\nnp.set_printoptions(precision=3)\nnp.set_printoptions(suppress=True)\n\n# create robot\nmodel = np.loadtxt('ur10-mdh.csv', delimiter=',')\nrobot = py.Robot(model)\n\nprint('Robot Model:\\n{}\\n'.format(robot.robot_model))\n\n# demonstrate forward kinematics\njoints = [0] * robot.num_dof()\npose = robot.fk(joints)\n\nprint('Pose:\\n{}\\n'.format(pose))\n\n# demonstrate inverse kinematics\nnew_joints = robot.ik(pose)\nprint('Solved Joints:\\n{}\\n'.format(new_joints))\n", "path": "examples/example_robot.py"}], "after_files": [{"content": null, "path": "examples/example_robot.py"}]}