Steps to reproduce:

1) Download attached project 'New Unity Project 6.zip' and open in Unity
2) Open scene 'Clean Scene' and press Play
3) Click L.mouse button on the Scene view
Observe the Console window and you will see that values of the GetIKRotation and GetIKPosition will be returned incorrectly (Position: (-1.8, 0.4, -22.7) Rotation: (350.6, 336.6, 258.0))

Expected result: Values of the GetIKRotation and GetIKPositionshould should be ~ Position: (-1.7, 1.5, -22.7) Rotation: (349.0, 353.8, 259.3) (check attached image 'expected.png')
Actual result: Values of the GetIKRotation and GetIKPositionshould are ~ Position: (-1.8, 0.4, -22.7) Rotation: (350.6, 336.6, 258.0) (check attached image 'actual.png')

Reproduced with:
2017.1.0a1, 2017.1.0p5, 2017.2.0b9, 2017.3.0a5

Not reproduced with:
5.5.4p3, 5.6.3p2

Regression since:
2017.1.0a1