Adding to Shopify POS cart from external app

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   Without any fuss, I would like go to the question, hoping if anyone would help. 
We are trying to add products into the ShopifyPOS app's cart from the app we created for Shopify. Is there any API or any way to do that? 

The scenario is, the user chooses the products from the app and those products be added in the Shopify POS app's cart. 

Anyone's response would be really very highly appreciated.

Thank You!