Real-time TCP position/pose control on YuMi (IRB14000)

kazoo

I plan to make a mouse or a gesture control robot like this (https://www.youtube.com/watch?v=3bywmHWcgdA). 

For a 6-axes robot, I could implement it by using ABB’s EGM (Externally Guided Motion) option, which allows to send a Cartesian position and pose of TCP. However, when I started to work on YuMi, I noticed that EGM’s position guide control cannot be applied to the 7-axes robot (For YuMi, a joint control mode in EGM is only available). 

Are there any recommendations to implement what I described above? 

Also, I'm guessing that I need to implement IK class to get the correct joints' angles from a desirable TCP position. Maybe using OpenRAVE or OMPL? If you have any recommendation to calculate IK / Inverse Jacobian, please let me know too.