So if I got the numbers right
DS: 200k
3DS: 1240k
Wii: 450k
Wii U: 390k
They missed their already reduced forecasts on everything except the DS. Though the Wii was just a hair shy.
Software was slightly better, only missing for the Wii U and 3DS. The 3DS miss only by 390k. Granted that's 23.4 million shy of their original forecast.