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Before using Gazebo, you need to create a URDF model of you 7 DOF robot. You can follow through the tutorials of Gazebo and ROS.

Test your model works with Gazebo by using ros_control for the controllers.

Then you will have to map the geomagic touch device to some sort of control input for ros_control controllers.

If you are satisfied with your simulation in Gazebo, you will need to replace the simulated robot with your robot hardware. This includes creating a joint state publisher and controllers for your 7 DOF robot.