Step $2$ Run IKinBodyIterates function and print a report

The IKinBodylterates function prints out a report for each iteration of the Newton$-$Raphson process, for iterates

$0($the initial guess$)$ to the final solution. Each iteration reports the iteration number $i,$ the joint vector $vi,$ the

end$-$effector configuration $Tsb(),$ the error twist $Vb,$ and the angular and linear error magnitudes, $||b||$ and

$||vb||.$

How do I know if I run this step correctly?

For a four$-$joint robot, a typical iterate might look like this:

Iteration $3$:

joint vector: $0\mathrm{.}221,0\mathrm{.}375,2\mathrm{.}233,1\mathrm{.}414$

$SE(3)$ end$-$effector config:$1\mathrm{.}0000\mathrm{.}000,0\mathrm{.}000,3\mathrm{.}2750\mathrm{.}000,1\mathrm{.}000$

$0\mathrm{.}000,4\mathrm{.}1620\mathrm{.}000,0\mathrm{.}000,1\mathrm{.}000,-5\mathrm{.}7320,0,0,1$

error twist V$\_$b:$0\mathrm{.}232,0\mathrm{.}171,0\mathrm{.}211,0\mathrm{.}345,1\mathrm{.}367,-0\mathrm{.}222$

angular error magnitude $|$lomega$\_$b $||$: $0\mathrm{.}357$

linear error magnitude $|$lv$\_$b$|$l: $1\mathrm{.}427$