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()

```

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))

{"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"}]}