fix: handle mismatched state/action dims in extract_episode (Franka 13 vs 15)

app.py

@@ -41,7 +41,9 @@ def extract_episode(states, actions):
     actions = np.array(actions, dtype=float)
     dq      = np.diff(states, axis=0)
     speed   = np.linalg.norm(dq, axis=1) * FS
-    effort  = np.linalg.norm(actions - states, axis=1)
+    # align dims before subtracting — state and action may differ (e.g. Franka 13 vs 15)
+    min_dim = min(states.shape[1], actions.shape[1])
+    effort  = np.linalg.norm(actions[:, :min_dim] - states[:, :min_dim], axis=1)
     raw_z   = states[:, 1]
     z       = (raw_z - raw_z.min()) / (raw_z.max() - raw_z.min() + 1e-9)
     return speed, effort, z