Best way to use an Action Server to send commands to a robot

Hi all, I have a Python action server running that gets the planned trajectory from MoveIt and it has to send the trajectory to the real robot - an Arduino Braccio. I found a way to parse the positions in the trajectory and send them one by one to Braccio but it moves in a very clumsy way, stopping between commands. What I want to do is make it move smoothly from the initial position until the goal position along the trajectory received by MoveIt. Here is the code I have so far: [braccio_controller.py](https://pastebin.com/6UwVYAtq). It uses this other Python script: [moving_braccio_pc.py](https://pastebin.com/ymVv1M6J) Can someone point me what the correct way of giving such commands is? Thanks in advance