老师好，想请教您一个问题，我在ROS中将一组xyz坐标上传给机器人，我修改的画圆任务代码，如何控制机器人走完这组坐标的时间呢？

    我路点的采样频率是125HZ，10几秒采了1400个点，但是规划后运动时间达到了40多秒，1:4降采样后，虽然提升了速度，但是还是没办法控制机器人走完轨迹的具体时间。我想让机器人在精确时间内走完我的采样轨迹，非常期待回复，万分感谢

data=np.loadtxt("data_handjiang.txt") 
x=data[0]  
y=data[1]
z=data[2]

class MoveItCircleDemo:
    def __init__(self):
        moveit_commander.roscpp_initialize(sys.argv)
      .
      .
      .
        waypoints = []
        arm.go()
        waypoints.append(target_pose.pose)
        
        for i in range(0,340,1):
          target_pose.pose.position.x = x[i]
          target_pose.pose.position.y = y[i]
          target_pose.pose.position.z = z[i] 
          wpose = deepcopy(target_pose.pose)
          waypoints.append(deepcopy(wpose))

        fraction = 0.0   
        maxtries = 100 
        attempts = 0     
        
        arm.set_start_state_to_current_state()
 
        rate = rospy.Rate(125)   

        while fraction < 1.0 and attempts < maxtries:
            (plan, fraction) = arm.compute_cartesian_path (
                      waypoints,   
                      0.01,        
                      0.0,        
                      True)      
            
            attempts += 1
            
            if attempts % 10 == 0:
                rospy.loginfo("Still trying after " + str(attempts) + " attempts...")

        if fraction == 1.0:
            rospy.loginfo("Path computed successfully. Moving the arm.")
            arm.execute(plan)
            rospy.loginfo("Path execution complete.")
        else:
            rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.") 

        moveit_commander.roscpp_shutdown()
        moveit_commander.os._exit(0)

if __name__ == "__main__":
    try:
        MoveItCircleDemo()
    except rospy.ROSInterruptException:
        pass