UR5 topic for publishing poses

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Can anyone tell me what topic I can use to publish poses to a UR5? The /cmd_vel for a ur5 manipulator.

I looked at the topics listing and found /execute_trajectory/goal as a likely suspect but when I echo the data, it doesn't look like the structure of a pose as I have been creating in moveit.

So, in that topic I get output in the following structure:

positions: [-0.8568392680231112, -0.9904359586560226, -0.9175880817002995, 1.4314831272490385, -1.2324064362209983, -1.372614572962234]
  velocities: [-0.24525353427218927, 0.13758645148283769, 0.16755178896132014, 0.7657359296959652, 0.07219514769336874, -0.577325360894504]
  accelerations: [0.11858302269636144, -0.06652469799188265, -0.08101329773770265, -0.3702424978299368, -0.03490721902497513, 0.2791437300885474]
  effort: []
  time_from_start: 
    secs: 4
    nsecs: 746101843
- 
  positions: [-0.9021423256318709, -0.965021087648316, -0.8866380349648214, 1.5729293210380886, -1.2190706001249698, -1.4792577011080434]
  velocities: [-0.2080229909896742, 0.11670023529753142, 0.1421167054282767, 0.6494939160665807, 0.061235613189770326, -0.4896848834568918]
  accelerations: [0.23728627722408094, -0.13311684565818369, -0.1621087352027387, -0.7408603861040486, -0.06984983062788713, 0.5585704851929627]
  effort: []
  time_from_start: 
    secs: 4
    nsecs: 939473866
-

Instead of the moveit structure like:

position: 
  x: 0.338441759145
  y: 0.293582473395
  z: 0.0863325043778
orientation: 
  x: 0.4272596592
  y: -0.366043813564
  z: -0.748817679545
  w: 0.350332974428

Am I right? If it is the execute_trajectory/goal topic I would appreciate links to examples.

If not, please advise.