Python:

Inverse Kinematics Full Solution Parameter Structure rm_inverse_kinematics_all_solve_t

Parameter description

Parameter	Type	Description
result	int	Inverse kinematics solution result: 0 for success, 1 for failure, -1 for empty or out-of-limit joint angles from the previous moment, -2 for invalid target pose quaternion.
num	int	Number of valid inverse solutions, in the range 0~8; only the first num groups of q_solve are used when result is 0.
q_ref	List[float]	Reference joint angles, typically the current joint angles, unit: °.
q_solve	List[List[float]]	Full joint angle solutions, an 8x8 array, unit: °.