Is it possible to release the code for the mid-level controller used in Franka?

[Kimagure7]

In Appendix D.1, you mentioned that Experiments for Sauce Pouring and Spreading, Bimanual Egg Beater, Bimanual Mat Unrolling, and Bimanual Shirt Folding tasks are performed on the Franka robot station. For the non-haptic control, a custom mid-level controller is implemented to generate desired joint positions from desired end effector poses from the learned policies.

I already know that the Franka experiments used TRI's proprietary software infrastructure, therefore it cannot be open-sourced. Howerer, I am interested in Inverse Kinematics for robotic arm. Is it possible to release the code for the mid-level controller ?