API for solving the inverse kinematic for a cartesian point

I’m working on a path plan problem that generates many points to reach a certain goal.
With the API of Visual components, I could generate the intermediary points with IMotionTarget. But it kind of is problematic because I need to input the matrix of the point. Which includes the wpr of the tool of the robot and try if there is actually a joint configuration for that specific (x, y, z, wpr) with GetConfigurationWarnings.
So is there a way to find the possible joint configurations for a point(x, y, z) without inputing its wpr and try the first one that works.