LP-CC2652RB: Tethered Joining to Zigbee Network

Part Number: LP-CC2652RB
Other Parts Discussed in Thread: CC2538

Tool/software:

I have an LP-2652RB development kit running a modified version of the zr_genericapp template code, and I want to join it to a preexisting Zigbee network. The coordinator of the network is a CC2538 running the ZNP firmware and being controlled through a Python program using the zigpy-znp library. The computer to  which the CC2538 is connected is running Linux and has external USB capabilities.

Previously, I was able to do  this with a non-TI Zigbee module by connecting it to the aforementioned computer's USB port and using the pyserial library to send commands to the device to change its Extended PAN ID, TC Link Key, and Network Key to match that of the configuration of the preexisting Zigbee network. That Zigbee module on its own will then continuously scan all Zigbee channels to see if there is an open network with the same matching configuration and tries to join; thus once I run the "Permit Join" command on the CC2538, the new device will join the network.

I was wondering if there is such a way to do something similar to that on the LP-2652RB development kit. My intuition tells me that I will need to run Zstackapi_bdbStartCommissioningReq with BDB_COMMISSIONING_MODE_NWK_STEERING somewhere in zclGenericApp_process_loop function, but I'm not sure how I would go about changing its network configuration (Extended PAN ID, TC Link Key, and Network Key). Is there such a way to do so through terminal/serial commands?