How to get a smooth motion of a JACO-Arm following trajectory points

edit

The jaco arm follows a trajectory points but stops briefly in those points, is there a package or suggestion to eliminate this stops and make the arm move smoothly over the trajectories?

Edit:

#include<iostream>
#include<stdlib.h>
#include<fstream>
#include<string.h>
#include<sstream>
#include<time.h>
using namespace std;
void letswait(int);
int main(int argc, char **argv)
{
    char filename[100];
    float temp;
    int row=0;
    stringstream rosrun;
    //find out number of rows
    strcpy(filename,argv[1]);
    ifstream myfile (filename);
    if(myfile.is_open())
    {
        while(!myfile.eof())
        {
            myfile>>temp;
            row++;      
        }
    }   
    row--;
    row=row/6;
    //refresh the file read
    myfile.clear();
    myfile.seekg(0,myfile.beg);

    //create dynamic table
    float **table; 
    table = new float* [row];
    for(int i=0;i<row;i++)
    table[i] = new float [6];

    //read the file into table
    for (int j=0;j<4;j++)
    {
        if(myfile.is_open())
        {
            while(!myfile.eof())
            {
                //cout<<myfile;
                for(int i=0;i<row;i++)
                {
                    for(int j=0;j<6;j++)
                    {
                        myfile>>table[i][j];
                    }
                }

            }
            myfile.close();
        }
        for(int i=0;i<row;i++)
        {

            //create string stream for rosrun
            rosrun<<"rosrun jaco_demo joint_angle_workout.py jaco "<<table[i][0]<<" "<<table[i][1]<<" "<<table[i][2]<<" "<<table[i][3]<<" "<<table[i][4]<<" "<<table[i][5];
            //call rosrun jaco_demo with one set of angles
            system(rosrun.str().c_str());
            //clear stream
            rosrun.str("");

            if (j == 0 && i == 0)
                {   
                    rosrun<<"rosrun jaco_demo grip_workout.py jaco 60 60 60";
                    system(rosrun.str().c_str());
                    rosrun.str("");             
                }
    }
    return 0; 
}
void letswait(int secs){
    clock_t end;
    end=clock()+secs*CLOCKS_PER_SEC;
    while(clock()<end);
}