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Hello, I'm the author of trac_ik_python. In the Python wrapper we are just exposing the C++ interface. As far as I know, there is no documentation on what exactly the boundaries are, but, commonsense (and a bit of testing when I made the wrapper) makes me think it's the error/tolerance as you name them. Also the units should be the inherent units of the position/orientation.

So, in short, bx, by, bz should be in meters and brx, bry, brz should be radians (as it's the standard unit), and yes, the boundaries are the allowed errors.

Also brx should be boundary on rotation on X, so roll. In the same case bry, pitch and brz yaw.

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