Real-Time Inverse Kinematics Setup in MuJoCo

I need an expert in robotics and simulation to set up inverse kinematics for a two-arm system in a MuJoCo environment. The job involves working with a provided XML file describing the arms and ensuring the inverse kinematics function runs in real-time, specifically in less than 10 milliseconds.

Key Requirements:
- Proficiency in inverse kinematics and its application in robotic simulations
- Experience with MuJoCo environment
- Ability to optimize the function for real-time performance
- Familiarity with mujoco XML files in the context of simulation