human
Solve the following python programming problem given the following code:
def __init__(self, robotdef, geom, ifunc = None) : 
    if (not ifunc) : 
        ifunc = _id 
self.rbtdef = robotdef 
    self.geom = geom 
    self.dof = self.rbtdef.dof 
    def sym_skew(v) : 
        return sympy.Matrix ([[0, (- v [2]), v [1]], [v [2], 0, (- v [0])], [(- v [1]), v [0], 0]]) 
if (self.rbtdef._dh_convention == 'standard') : 
        z_ext = (geom.z + [sympy.Matrix ([0, 0, 1])]) 
        p_ext = (geom.p + [sympy.zeros (3, 1)]) 
        self.Jp = list (range (self.rbtdef.dof)) 
        for l in range (self.rbtdef.dof) : 
            self.Jp [l] = sympy.zeros (3, self.rbtdef.dof) 
            for j in range ((l + 1)) : 
                if self.rbtdef._links_sigma [j] : 
                    self.Jp [l] [0 : 3, j] = ifunc (z_ext [(j - 1)]) 
else : 
                    self.Jp [l] [0 : 3, j] = ifunc (z_ext [(j - 1)].cross ((p_ext [l] - p_ext [(j - 1)])).reshape (3, 1)) 
self.Jo = list (range (self.rbtdef.dof)) 
        for l in range (self.rbtdef.dof) : 
            self.Jo [l] = sympy.zeros (3, self.rbtdef.dof) 
            for j in range ((l + 1)) : 
                if self.rbtdef._links_sigma [j] : 
                    self.Jo [l] [0 : 3, j] = sympy.zeros (3, 1) 
else : 
                    self.Jo [l] [0 : 3, j] = ifunc (z_ext [(j - 1)]) 
else : 
        if (self.rbtdef._dh_convention == 'modified') : 
            self.Jp = list (range (self.rbtdef.dof)) 
            for l in range (self.rbtdef.dof) : 
                self.Jp [l] = sympy.zeros (3, self.rbtdef.dof) 
                for j in range ((l + 1)) : 
                    if self.rbtdef._links_sigma [j] : 
                        self.Jp [l] [0 : 3, j] = ifunc (geom.z [j]) 
else : 
                        self.Jp [l] [0 : 3, j] = ifunc (geom.z [j].cross ((geom.p [l] - geom.p [j])).reshape (3, 1)) 
self.Jo = list (range (self.rbtdef.dof)) 
            for l in range (self.rbtdef.dof) : 
                self.Jo [l] = sympy.zeros (3, self.rbtdef.dof) 
                for j in range ((l + 1)) : 
                    if...

    
    

    Fix the buggy line: self.Jcp [l] = ifunc ((self.Jp [l] - (sym_skew ((geom.R [l] * sympy.Matrix (self.rbtdef.l [l]))) * self.Jo [geom])))
assistant
#Here is Python code to fix the buggy line: self.

self.Jcp [l] = ifunc ((self.Jp [l] - (sym_skew ((geom.R [l] * sympy.Matrix (self.rbtdef.l [l]))) * self.Jo [l])))