G-code translation for UR5

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Hi all,

I am working with UR5 through ROS Kinetic. I can move UR5 by publishing <jointtrajectorypoint> through python file or by giving waypoints trough Moveit (Also I want to test using Descartes). I have a G-code file that should be translated to waypoints or positions. In this regard, I searched the internet for a G-code translator and I found something for using Machinekit by Ros-I group (without API or example).

I would be appreciated if someone can give me guidance for G-code translation.