Iterate offset on ep_000: (dx,dz)=(+0.230,+0.175).

Iterate offset on ep_000 (1434 frames): (dx,dz)=(+0.225,+0.175).

Test: ep_004 (0.22,0.18) overlay rendered at 2x supersample (1.5-px lines, r=2/3 dot).

Test: ep_004 (dx,dz)=(+0.22,+0.18) with thinner axis lines (2 -> 1).

Test: ep_004 (dx,dz)=(+0.22,+0.18) with smaller projection dots.

Test: ep_004 (dx,dz)=(+0.22,+0.18).

Test: 2026-05-19/episode_004 with (dx,dz)=(+0.2,+0.2).

Test: 2026-05-19/episode_004 with corrected (dx,dz)=(+0.45,+0.45) offset (prior render was a no-op due to tuple-vs-dict bug).

Test: 2026-05-19/episode_004 preview with (dx, dz) = (+0.45, +0.45) m offset on OT poses.

Test: 2026-05-19/episode_004 preview with (dx, dy) = (+0.3, +0.3) m world-frame offset applied to OT poses, to verify projection alignment.