How to give MoveIt! waypoints in joint space?

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Hi,

I have a manipulator which can be commanded through moveit_commander in Python. I want each joint to follow a periodic trajectory in joint space. I have tried sending joint commands via set_joint_value_target for small time steps, but the motion is jerky and not continuous, as moveit stops to plan at each new command.

Is there anything similar to compute_cartesian_path in joint space? I couldn't find anything. In case there isn't any equivalent command, how can I possibly get rid of the discontinuity in the motion?

I want this motion for calibration of the arm, so it really needs to be continuous.

Thank you.

Bests