move_pillbottle_pad 100004 MPC after bbox fix (raw-pose bbox + lwh EMA) — before/after

single_seed/move_pillbottle_pad_100004_mpc_bboxfix/README.md

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+# move_pillbottle_pad seed 100004 — MPC after the bbox fix
+
+## The bug (confirmed in code)
+poselib output `bbox_size_lwh_m` (ScaleNet) together with the RAW estimator pose,
+so the lwh axes are bound to the raw pose's object frame. But the orchestrator
+reconstructed the 3D bbox corners using the FUSED pose (poses = fuser output).
+When the fuser / rotation-stability changed the rotation (fused != raw — common
+for flat/near-symmetric objects like a pad), the box was mis-oriented and the
+distance constraint (which uses these corners) was computed on a wrong box.
+
+## The fix (orchestrator.py)
+1. Reconstruct the bbox with the RAW pose (`obs_poses`, captured per object in
+   both batch and serial paths) instead of the fused pose.
+2. Lightly smooth lwh over time (per-object EMA, alpha=0.5) to suppress per-frame
+   size jitter (object size is ~constant).
+
+## Effect on this seed (still FAIL, but honest)
+| | before (fused-pose bbox) | after (raw-pose bbox + lwh EMA) |
+|---|---|---|
+| reached step | 0→1→2→3 (place) | 0→1→2 (transport) |
+| final distance | -1.421 (mis-oriented-box artifact) | -0.594 (real) |
+| bbox | clearly tilted (before_tilted_bbox.png) | corrected (after_fixed_bbox.png) |
+
+Before, the tilted box *spuriously* satisfied the transport constraint and the
+plan jumped to place. After the fix the box is accurate and correctly shows the
+transport is incomplete: the gripper lifts the pillbottle but never brings it
+down onto the pad (after_lastframe.png: holding=+1.0, distance=-0.594). So this
+seed is a genuine control/policy failure — the fix removed the bbox artifact that
+was masking it.

single_seed/move_pillbottle_pad_100004_mpc_bboxfix/ep0_seed100004_mpc_bboxfix_FAIL.mp4

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