Socket received data being displayed in game with large delay, how can I synchronize it better?,Unity not synchronously receiving/displaying data from socket

Hello, I'm very new to Unity in general.

I'm working on a project that requires me to connect a IR camera that tracks upper body joints. The camera sends joint data from a small custom application written in C++.

I've successfully connected the camera and made Game Objects in the scene move by transforming their coordinates, but I noticed that they are not in sync with the camera's tracking.

Now, packets from the C++ app are being sent continuously, and I'm receiving every packet successfully, but they are around 5 seconds late after the game has been running for couple of seconds.

I'm not sure what I should do to sync them up. I do not need every single packet to be received, because many packets contain identical data, but I want them to be displayed in the game in (or close to) realtime.

Here's what it looks like when debugging: Code for "server socket" that receives data from the C++ app that camera sends to it.

 using System;
 using System.Net;
 using System.Net.Sockets;
 using System.Text;
 using UnityEngine;
 
 public class TcpSocket
 {
     private string ipAddress;
     private int port;
     private Socket socket, clientSocket;
     private byte[] buffer = new byte[1024];
     private long counter = 0;
 
     private int backlog = 10;
 
     public delegate void OnMessageReceived(string message, long counter);
     public event OnMessageReceived MessageReceived;
 
     public TcpSocket(string ipAddress, int port)
     {
         this.ipAddress = ipAddress;
         this.port = port;
         socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
 
         #region added for server emulation
         socket.Bind(new IPEndPoint(IPAddress.Any, port));
         Debug.Log("Bound socket to port " + port);
         socket.Listen(backlog);
         Debug.Log("Started listening...");
         Accept();
         #endregion
     }
 
     #region MethodsForServerEmulation
     private void AcceptedCallback(IAsyncResult result)
     {
         Console.WriteLine("Accept callback called... ");
         clientSocket = socket.EndAccept(result);
         if (socket.Connected) { Console.WriteLine("A client has connected... "); }
         clientSocket.BeginReceive(buffer, 0, buffer.Length, SocketFlags.None, ReceivedCallback, clientSocket);
 
         Accept();
     }
     public void Accept()
     {
         socket.BeginAccept(AcceptedCallback, null);
         Debug.Log("Beginning accept... ");
     }
     #endregion
 
     public IAsyncResult Connect()
     {
         return socket.BeginConnect(new IPEndPoint(IPAddress.Parse(ipAddress), port), ConnectCallback, null);
     }
 
     private void ConnectCallback(IAsyncResult result)
     {
         if (socket.Connected)
         {
             Debug.Log("Connected to server!");
             socket.BeginReceive(buffer, 0, buffer.Length, SocketFlags.None, ReceivedCallback, null);
         }
     }
 
     private void ReceivedCallback(IAsyncResult result)
     {
         clientSocket = result.AsyncState as Socket;
         Debug.Log("Entered Receive callback...");
         int bufferLength = socket.EndReceive(result);
         if (bufferLength > 0)
         {
             counter++;
             string message = Encoding.ASCII.GetString(buffer, 0, buffer.Length);
             if (MessageReceived != null) { MessageReceived(message, counter); }
 
             // Handle packet
             Array.Clear(buffer, 0, buffer.Length);
             clientSocket.BeginReceive(buffer, 0, buffer.Length, SocketFlags.None, ReceivedCallback, clientSocket);
         }
         else { Debug.Log("Nothing received from socket"); }
     }
 }
 

And Controller script, that uses that data to move game objects in the scene:

 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 using System;
 
 public class RealsenseController : MonoBehaviour
 {
     private TcpSocket clientSocket;
     #region gameObjects
     public GameObject leftHand;
     public GameObject rightHand;
     public GameObject leftShoulder;
     public GameObject rightShoulder;
     public GameObject head;
     public GameObject middleBody;
     #endregion
     private float coordZ = -9f;
     Vector3[] gameobjectVectors = new Vector3[8];
 
 
     private bool IsMessageReceived = false;
     // Use this for initialization
     void Awake()
     {
         clientSocket = new TcpSocket("127.0.0.1", 54000);
         clientSocket.MessageReceived += ClientSocket_MessageReceived;
         //clientSocket.Connect();
         // Initializing vectors that will be changed through coordinates we'll be receiving
         #region gameobjectVectors initialization
         gameobjectVectors[0] = new Vector3(0f, 0f, coordZ);     //0 - leftShoulder
         gameobjectVectors[1] = new Vector3(0f, 0f, coordZ);     //1 - rightShoulder
         gameobjectVectors[2] = new Vector3(0f, 0f, coordZ);     //2 - leftHand
         gameobjectVectors[3] = new Vector3(0f, 0f, coordZ);     //3 - rightHand
         gameobjectVectors[4] = new Vector3(0f, 0f, coordZ);     //4 - head
         gameobjectVectors[5] = new Vector3(0f, 0f, coordZ);     //5 - midBody
         #endregion
     }
 
     private void ClientSocket_MessageReceived(string message, long counter)
     {
         //IsMessageReceived = true;
         ReformatMessage(message);
         Debug.Log(message);
         Debug.Log(DateTime.Now.Hour + ":" + DateTime.Now.Minute + ":" + DateTime.Now.Second);
     }
 
     // Update is called once per frame
     void FixedUpdate()
     {
         //if (IsMessageReceived == true)
         //{
             leftShoulder.transform.position = gameobjectVectors[0];
             rightShoulder.transform.position = gameobjectVectors[1];
             leftHand.transform.position = gameobjectVectors[2];
             rightHand.transform.position = gameobjectVectors[3];
             head.transform.position = gameobjectVectors[4];
             middleBody.transform.position = gameobjectVectors[5];
 
             //IsMessageReceived = false;
         //}
     }
 
     private void ReformatMessage(string message)
     {
         float x, y;
         string[] perBodyparts = message.Split(' ');
         string[][] wholeMessage = new string[perBodyparts.Length - 1][];
         for (int i = 0; i < perBodyparts.Length - 1; i++)   // Splitting message into parts, and changing vector coordinates
         {
             wholeMessage[i] = perBodyparts[i].Split(';');
             if(i <= 5)
             {
                 x = float.Parse(wholeMessage[i][1]);
                 x = (x / 100f) + 3f;
                 y = float.Parse(wholeMessage[i][2]);
                 y = 7f - (y / 100f);
                 Debug.Log(wholeMessage[i][0] + ";" + x + ";" + y + ";");
 
                 gameobjectVectors[i].x = x;
                 gameobjectVectors[i].y = y;
             }
             else
             {
                 Debug.Log(wholeMessage[i][0]);
             }
            
         }
     }
 }
 

Any ideas what I should change?

Thanks!