Welcome to the Thor community!
Yes, as you say it would be nice to have a way to program the motion in a easier way (probably just giving the XYZ cordinates and the rotation matrix elements). If I’m not wrong I think that Danny is developing a visual tool that makes that, but I don’t really know the state of it. Check his hackaday projects 😉
Also, the Inverse Kinematic equations are available and ready to implement in a program. (It is in my buffer of thing to do, but I don’t know when I’ll have the time…)
Hope it helps… at least a bit 😛