This package runs on ROS Hydro and can make the virtual UR5 execute a trajectory to a given point.
After running Catkin_make, launch the generator using 'roslaunch assignment1 jacobian.launch'.
Make the robot reach a given point as follows:
"rostopic pub -1 /setpoint geometry_msgs/Point -- '0.5 ' '.05 ' '.2 '
###Note:
*Only the first three links are variable.
*Only the position can be specified (not the orientation)