Precision regarding the diffIK method

Hi, Thank you for the implementation tutorial.

I'm trying to use the diffIK method to control the eef pose of my robot, but I'm getting a error_norm of 1e-3 (cartesian xyz and quat). This is much higher than what I expect for my use case. Can you please give me some suggestion on improving the precision? Thank you very much!

Start by locating the diffIK method and the error_norm calculation in the repository, then reproduce the reported end-effector precision using the tutorial setup. Compare the Cartesian position and quaternion errors with the issue's values and document the cause and any validated precision guidance.

Written by the indexing model from the issue text.