{
  "ik_iterations": 4,
  "ik_position_error_m": 5.746473185221468e-05,
  "ik_rotation_error_rad": 4.460734751083028e-06,
  "tracking_joint_error_rad": 0.0002606498074620295,
  "solution_rad": [
    -0.07929127759276547,
    0.26437770358536306,
    0.022834352100440238,
    1.0988608764727403,
    0.0026027570265727013,
    0.030613206258780123,
    -0.016138029640475962
  ],
  "target_position_m": [
    0.11797827351143314,
    0.24030668570852257,
    0.7519489895593074
  ],
  "target_quaternion_wxyz": [
    0.8589073432122641,
    0.10512977565395804,
    0.49668832333123425,
    0.0672801271803606
  ],
  "scope": "fixed base, wrist-link origin, no BrainCo2 hand or grasp"
}