Interface for human intervention and Retraining

Goal: A recording script which triggers in certain conditions to allow us to record the human corrections and trigger a re-training

• global config (obs_, pred_horizon, diffusion steps, dataset_path)
• Subscriber for Anomaly topic and joystick. Wait until AE stops the execution and the joystick begins to be moved -> begin rosbag recording -> when joystick is 0 stop the recording again
• After recording -> training (both IL) with new data will be triggered
• (bonus) After training -> continues execution