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Since the FK is from Foo (and its children) to FooImage, and not the other way round, it makes no difference that you are using inheritance here: you can add the images directly to the FooBar instance as if it were a standalone one.
my_foo_bar = FooBar.objects.create(field=value)
my_foo_bar.images.add(my_foo_image)
# or
FooImage.objects.create(model=my_foo_bar, image=my_image)
Source:stackexchange.com