how to draw a circle with Kinova Jaco2 in ROS?

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I am trying to use ROS to connect and control Jaco2 robot arm to draw a circle (any shape) for me, I assumed that is related to Trajectory control right? I have read the contents on https://github.com/Kinovarobotics/kin..., but still have no clue on how to proceed with my quest. Another solution might be using Matlab to run the command and transfer the command via some sort of API to connect with ROS to control the Jaco2 robot arm. Please share your thoughts and ideas if you have done this before or have knowledge about how to solve this, that will be very much appreciated!!!