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You don't need to publish multiple times

here is an example of using different message types:

pub = rospy.Publisher('/delta_robot/delta_robot_controller/command', JointTrajectory, queue_size=10)

joints_str = JointTrajectory()
joints_str.header = Header()
joints_str.header.stamp = rospy.Time.now()
joints_str.joint_names = ['motor_1_uleg_1', 'motor_2_uleg_2', 'motor_3_uleg_3']
point=JointTrajectoryPoint()
point.positions = [var1, var2, var3]
point.time_from_start = rospy.Duration(2)
joints_str.points.append(point)

pub.publish(joints_str)
rospy.loginfo("position updated")