Step $5$ Now, you'll start working in CoppeliaSim

Open the CoppeliaSim Scene $2($File: Topic $2\mathrm{.}3$ Scene$2\_$UR$5\_$csv$.$ttt$).$

Choose an initial guess $v0$ so that the numerical inverse kinematics converges after

$3-5$ Newton$-$Raphson steps.

For example, you could use the sliders in the CoppeliaSim UR$5$ interactive scene to

find an initial guess.

You'll need to play around with this a lot. Run the code again and again until you

can answer after $3-5$ iterations.