UR5 - Gazebo 5 - Simulation not moving

edit

I am new to this so forgive me if I ask a dumb question.

I am running a Gazebo simulation of UR5 and the robot appears but I can not get it to move without moveit. I tried standard ROS topic calls with no luck

#!/usr/bin/env python
#-----------------------------------------------------
# 05 Apr 2017 - WOPA5X - Initial Development
#-----------------------------------------------------
import rospy
import math
from std_msgs.msg import Float32
from control_msgs.msg import FollowJointTrajectoryActionGoal
from trajectory_msgs.msg import JointTrajectoryPoint


#TORAD = math.pi / 180.0
#TODEG = 1.0 / TORAD

def finalization(self):
        logger.info("Shutting down ROS node...")
        rospy.signal_shutdown("User exited simulation")
        return True


def move_to_position(Arm): 

     Pub1_T.publish(0.5)
     Pub2_T.publish(0.5)
     Pub3_T.publish(0.5)
     Pub4_T.publish(0.5)
     Pub5_T.publish(0.5)
     Pub6_T.publish(0.5)

     Pub1_G.publish(Arm[0])
     Pub2_G.publish(Arm[1])
     Pub3_G.publish(Arm[2])
     Pub4_G.publish(Arm[3])
     Pub5_G.publish(Arm[4])
     Pub6_G.publish(Arm[5])
     rospy.sleep(20) 




def up():
   Arm = [2.75, 2.75, 2.75, -2.75, 2.75, 2.75]
   print "Winston_wave -- moving arm up"  
   move_to_position(Arm)   

def down():
   Arm = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
   print "Winston_wave -- moving arm down"  
   move_to_position(Arm)    



if __name__ == '__main__':
    rospy.init_node('Winston_wave')
    try:
        arm_joints = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]


        Arm_Names_Goals = []
        Arm_Names_Trajectory = []
        Pub = []
        for i in range(len(arm_joints)):
            Arm_Names_Goals.append("arm_controller/constraints/" + arm_joints[i] + "/goal")
            Arm_Names_Trajectory.append("arm_controller/constraints/" + arm_joints[i] + "/trajectory")

        Pub1_G = rospy.Publisher(Arm_Names_Goals[0], Float32, queue_size = 1)
        Pub2_G = rospy.Publisher(Arm_Names_Goals[1], Float32, queue_size = 1)
        Pub3_G = rospy.Publisher(Arm_Names_Goals[2], Float32, queue_size = 1)
        Pub4_G = rospy.Publisher(Arm_Names_Goals[3], Float32, queue_size = 1)
        Pub5_G = rospy.Publisher(Arm_Names_Goals[4], Float32, queue_size = 1)
        Pub6_G = rospy.Publisher(Arm_Names_Goals[5], Float32, queue_size = 1)   
        Pub1_T = rospy.Publisher(Arm_Names_Trajectory[0], Float32, queue_size = 1)
        Pub2_T = rospy.Publisher(Arm_Names_Trajectory[1], Float32, queue_size = 1)
        Pub3_T = rospy.Publisher(Arm_Names_Trajectory[2], Float32, queue_size = 1)
        Pub4_T = rospy.Publisher(Arm_Names_Trajectory[3], Float32, queue_size = 1)
        Pub5_T = rospy.Publisher(Arm_Names_Trajectory[4], Float32, queue_size = 1)
        Pub6_T = rospy.Publisher(Arm_Names_Trajectory[5], Float32, queue_size = 1)   


        while not rospy.is_shutdown():
                    up()
                    down()           jectory[4], Float32, queue_size = 1)
        Pub6_T = rospy.Publisher(Arm_Names_Trajectory[5], Float32, queue_size = 1)   


        while not rospy.is_shutdown():
                    up()
                    down()           

    except rospy.ROSInterruptException:
        pass


    except rospy.ROSInterruptException:
        pass

and when I try to use test_move.py it just sits there saying "Waiting for server....", it is doing this with the modern driver too

HELP!!! is there anyway(examples would be nice) to move a UR without moveit

thanks in Advance Anthony(Biv)