joint_angles = ik_solver.get_ik(x, y, z, qx, qy, qz, qw, timeout=0.1, eps=1e-6, min_joints=None, max_joints=None, return_approximate_solution=False)
joint_angles = ik_solver.get_ik(x, y, z, qx, qy, qz, qw, timeout=0.1, eps=1e-6, min_joints=None, max_joints=None, return_approximate_solution=False)