diff --git a/examples/ik.ipynb b/examples/ik.ipynb
index 57e475eb..ab0444f8 100644
--- a/examples/ik.ipynb
+++ b/examples/ik.ipynb
@@ -270,15 +270,12 @@
         "  if wrapper.data.time > 2:\n",
         "    # change the desired ee position\n",
         "    des_ee_pos_numeric = np.array([2.0, 0.0, 0.2])\n",
-        "    sol_q_dot = ik(q0_numeric, des_ee_pos_numeric)\n",
         "  if wrapper.data.time > 4:\n",
         "    # change the desired ee position\n",
         "    des_ee_pos_numeric = np.array([0.0, 0.5, 0.4])\n",
-        "    sol_q_dot = ik(q0_numeric, des_ee_pos_numeric)\n",
         "  if wrapper.data.time > 6:\n",
         "    # change the desired ee position\n",
         "    des_ee_pos_numeric = np.array([0.0, -0.6, 0.6])\n",
-        "    sol_q_dot = ik(q0_numeric, des_ee_pos_numeric)\n",
         "\n",
         "media.show_video(frames, fps=framerate)\n"
       ]