prompt: You will be provided with a partial code base and an issue statement explaining a problem to resolve.
  <issue>
  Update examples
  Examples are now out of sync with current codebase. Potential use for iPython?
  
  </issue>
  <code>
  [start of examples/example_robot.py]
  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 of examples/example_robot.py]
  </code>
  
  I need you to solve this issue by generating a single patch file that I can apply directly to this repository using git apply. Please respond with a single patch file in the following format.
  <patch>
  diff --git a/file.py b/file.py
  --- a/file.py
  +++ b/file.py
  @@ -1,27 +1,35 @@
   def euclidean(a, b):
  -    while b:
  -        a, b = b, a % b
  -    return a
  +    if b == 0:
  +        return a
  +    return euclidean(b, a % b)
   
   
   def bresenham(x0, y0, x1, y1):
       points = []
       dx = abs(x1 - x0)
       dy = abs(y1 - y0)
  -    sx = 1 if x0 < x1 else -1
  -    sy = 1 if y0 < y1 else -1
  -    err = dx - dy
  +    x, y = x0, y0
  +    sx = -1 if x0 > x1 else 1
  +    sy = -1 if y0 > y1 else 1
   
  -    while True:
  -        points.append((x0, y0))
  -        if x0 == x1 and y0 == y1:
  -            break
  -        e2 = 2 * err
  -        if e2 > -dy:
  -            err -= dy
  -            x0 += sx
  -        if e2 < dx:
  -            err += dx
  -            y0 += sy
  +    if dx > dy:
  +        err = dx / 2.0
  +        while x != x1:
  +            points.append((x, y))
  +            err -= dy
  +            if err < 0:
  +                y += sy
  +                err += dx
  +            x += sx
  +    else:
  +        err = dy / 2.0
  +        while y != y1:
  +            points.append((x, y))
  +            err -= dx
  +            if err < 0:
  +                x += sx
  +                err += dy
  +            y += sy
  +
  +    points.append((x, y))
       return points
  
  </patch>
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"}]}