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      "test_samples": 111,
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      "coverage_joint_rmse_rad": {
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      "bank_mean_pairwise_range_normalized_distance": 2.0993269204152396,
      "bank_min_pairwise_range_normalized_distance": 0.4804578935584821
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  ],
  "taxonomy_categories_in_fit": 43,
  "kinematic_scope": "PCA reconstruction fingertip FK error in palm frame; joint limits are checked. Bank poses are observed training poses, converted to actual q entries.",
  "collision_scope": "Not evaluated. This offline feature/URDF analysis does not reproduce Isaac Lab's authored self-collision filters and PhysX contacts; collision validity requires a separate simulator witness.",
  "limitations": [
    "pose coverage is geometry in joint space, not task or contact success",
    "samples outside the authored joint limits are excluded before train/test splitting; source validity fractions are reported separately",
    "source-balanced metrics use up to the configured number of samples per source",
    "held-out unit is source trajectory key for the standard split and whole source for leave-one-source-out",
    "K-means centers are converted to nearest observed pose before being called a bank entry"
  ]
}