Can isaac sim receive the planned trajectory of MoveIt and execute it?

For robotic arm Isaac sim can receive topics of type sensor_msgs/msg/JointState based on ROS and execute them. But if I use MoveIt to plan a trajectory, the result type is moveit_msgs:: RobotTrajectory, which contains multiple waypoints. How should I execute this trajectory in Isaac Sim? If I break down the waypoints and broadcast them one by one based on ROS, the execution results may result in repeated acceleration and deceleration. Is there a way to make it appear smooth? Thank you for any help.