interaction.yaml

interaction:
    observation_frequency: 100.0
    max_observation_length: 800
    min_observation_length: 1
    response_frequency: 30.0
    single_point_trajectory: # Whether to only generate a trajectory consisting of a single point at the given phase.
        use: false
        phase: "current" # This can either be a floating point value indicating a specific phase to generate at, or "current" to use the currently estimated phase.
    start_generation_phase: 0.07 # Start generating trajectories if estimated phase exceeds this value.
    stop_generation_phase: 1.1 # Stop generating trajectories if estimated phase exceeds this value.
    playback_factor: 1.0
    default_record_dir: "<path_to_recorded_data_dir>"
    default_playback_dir: "<path_to_rosbags_dir>"
    demo_status_topic: "/interaction_demo_status"
    demo_reset_topic: "/interaction_demo_reset"
    reset_after_demo: true
    rosbag_record_delay_ms: 700
control:
    control_topic: "/continuous_controller"
    ur5l:
        control_frequency: 30
        joint_distance_threshold: 0.13
    ur5c:
        control_frequency: 30
        joint_distance_threshold: 0.13
    controller: "ur5c" # Only used if robot controller is launched as an independent node.