Real Robot Data Collection Issue

[chad-yao]

Hello 🤝 , @cheng-chi . I encountered an issue while applying your code to collect data on the iiwa7 robot. When the machine reaches certain specific positions, I noticed a problem with using Euler angles for interpolation. It causes sudden jerks or acceleration, which can be potentially dangerous. I suggest using quaternions for interpolation. I have tested this and found that using quaternion interpolation resolves the problem I described.