Python API

The hjcdik package exposes the solver via pybind11.

generate_solutions(target_pose, batch_size=2000, num_solutions=1, collision_free=False, ...)

Solve IK for a single 6-DOF target. target_pose is [x, y, z, qw, qx, qy, qz] (position + quaternion). Returns a dict {joint_config, pose, pos_errors, ori_errors, count}.

sample_targets(num_targets, seed=0)

Sample reachable random EE targets (list of 7-vectors), useful for benchmarking.

num_joints()

The robot’s joint count (grid::NUM_JOINTS).

from hjcdik import generate_solutions, sample_targets, num_joints

targets = sample_targets(num_targets=10, seed=0)
out = generate_solutions(targets[0], batch_size=2000, num_solutions=4)
print(out["count"], out["pos_errors"].min())