How to control position and orientation of 7 DOF robot in simscape multibody in real-time?

I'm using the cad model of a 7 DOF robot in simscape multibody to simulate controlling the robot's end-effector in real-time by changing the position and orientation of the end-effector in the space. So I don't need to know the absolute position and orientation of the robot end-effector frame to the base frame. I use some gain sliders to control translation in X, Y, and Z and the rotation about these axes (robot three orientation angles in the space) for simulation. I don't want to solve Inverse kinematics and the IK block for simplicity and increasing the simulation speed. I used 6 DOF joint block which is connected to the base frame and end effector frame to change the position and orientation of the end-effector. The problem is the 6 DOF joint block has only motion inputs for translations, and for rotations has torque inputs, which is not useful for me because I need both accepts motion inputs and in the simulation, the robot orientation will vary randomly during the time. I would be grateful if anyone can help me with that and suggest me a method that I don't need to solve the Ik and using related blocks.