Quaternion reset rotations didnt smooth

Hi mates,

Im really "obsessed"with a reset rotation smothly in a object.

It looks like only reset his position during a frame-frame time.(?????)

Is a 3d object who manages a flying carpet and i want to capture the flying carpet rotation and reset when a oncollisionexit function when the hand of the kinect stops collision. (is for a kinect personal/hoby proyect i work in GameIndustry but as a 3D Artist).

A guy help me a lot but im stuck anyays in this simple coding lines but im not able to understand.

Any help will be appreciate. I can send a Video if needed.

 using UnityEngine;
  
  public class RotateOnCollision : MonoBehaviour {
      //Object to rotate (player)
      public Transform objectToRotate;
      public float rotationInty;
      public float smooth;
      public float speed;
  
      Vector3 objectsOriginalPosition;
      Quaternion objectsOriginalRotation;
  
      void Start()
      {
          objectsOriginalRotation = objectToRotate.transform.rotation;
      }
  
      void RecoverPosition()
      {
          Debug.Log("void recover");
          objectToRotate.transform.rotation = Quaternion.Slerp(objectToRotate.rotation, objectsOriginalRotation, Time.deltaTime * speed);
          Debug.Log("void recover end");
      }
  
      void OnCollisionStay(Collision col)
      {
          if (col.gameObject.name == "24_Thumb_Right")
          {
              //rotate y axis
              objectToRotate.transform.RotateAround(objectToRotate.transform.position, transform.up, -rotationInty);
  
              //rotate z axis
              objectToRotate.transform.Rotate(Vector3.forward * Time.deltaTime * smooth);
          }
      }
  
      void OnCollisionExit(Collision col)
      {
          if (col.gameObject.name == "24_Thumb_Right")
          {
              print("No longer in contact with " + col.transform.name);
              RecoverPosition();
          }
      }
  }