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I can suggest you one more way of doing it: 1) Create a publisher in Python which publishes forces to the joints. Joint tutorial using Python can helo you with that. 2) Call another code objects which modifies the joint forces and returns it to the publishing method. 3) Create a class and method for implementing IK using DH matrices. There are many IK implementations available online and those can be called from this interface class as well.
Considering the less amount of time left for DRC, the choice is yours. :)
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