feat(umi): add EE replay viewer, URDF meshes, and evaluate script updates

- Add replay.py script and replay_viewer.html for browser-based EE
  trajectory visualization from glannuzel/grabette-dataset
- Add viewer.html for interactive URDF inspection
- Move OpenArm URDF and meshes into openarm_follower/urdf/
- Add virtual EE target frame (openarm_right_ee_target) at 7cm from link7
- Adapt evaluate.py for single right-arm OpenArm with wrist camera
- Update docs with replay viewer usage
- Update openarm_follower config, driver, and kinematic processor

Made-with: Cursor

pyproject.toml

@@ -306,7 +306,8 @@ default.extend-ignore-identifiers-re = [
     "thw",
     "inpt",
     "ROBOTIS",
-    "OT_VALUE"
+    "OT_VALUE",
+    "metalness",
 ]
 
 # TODO: Uncomment when ready to use