    def interpolate_move(self, goal: np.ndarray, timeout: float):
        """Move the robot to the goal position with linear interpolation."""
        steps = int(timeout * self.hz)
        self._update_currpos()
        path = np.linspace(self.currpos, goal, steps)
        for p in path:
            self._send_pos_command(p)
            time.sleep(1 / self.hz)
        self._update_currpos()
Move the robot to the goal position with linear interpolation.
serl_robot_infra/franka_env/envs/franka_env.py