Simulation robot in Rviz

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Greetings, I am currently using ROS Kinetic and Linux Ubuntu 16.04. I have to perform a simulation about a robot, cyton_gamma_1500 that I can't use at this moment. I succeed to simulate it in rviz, giving the joint position using sensor_msgs/JointState, but what I need now is to compute a simulated trajectory giving as parameters the initial and final joint positions, either joint velocities or time to compute the trajectory, and see it in rviz because until now I can only give the final position that the robot reach immediately.

Thank you for your help.