fix(dashboard): compare gripper action and PE state in mm - #2
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WM action grippers are normalised [0, 1] while Pose Expert state uses OmniPicker aperture in mm. The dashboard was subtracting raw values, producing misleading deltas (e.g. +118 for a ~1 mm right-gripper error). Also fall back to imageio-ffmpeg when ffmpeg is not on PATH so rollout videos use H.264 instead of OpenCV mp4v when possible.
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Summary
[0, 1]) directly against Pose Expert state grippers (OmniPicker aperture in mm), which produced misleading deltas (e.g.+118for a ~1 mm right-gripper error during replay).35 + norm * 85mapping used inconditioning/band.pybefore rendering the comparison table.wm_action_gripper_to_mm()helpers ingesim.typesand unit tests.imageio-ffmpegwhenffmpegis not onPATH, sosave_video()prefers H.264 instead of OpenCVmp4vwhen possible.Test plan
pytest tests/test_gripper_units.py tests/test_env_server_smoke.pyruff checkon touched filesdemo_000and confirm dashboard gripper Δ is ~mm-scale (R grip ~1 mm, not ~118)