{
  "title": "Link-near + distance joint HOI pose references",
  "method": "link_near_and_distance_joint",
  "cluster_count": 6,
  "source_dataset": "Full train HOI 6241; K=6 clustering",
  "feature_definition": "22D Sharpa joint pose plus 26 hand-link collision-surface clearances; 5 mm near mask is a geometric proximity feature.",
  "interpretation": "Cluster IDs are unsupervised group labels, not grasp semantics. Clearance is not contact force. Teacher rollout outcomes shown per medoid are independent recorded evaluations and do not define cluster meaning.",
  "agent_usage": "Use to inspect and discuss candidate hand configurations and HOI examples. Do not treat the medoid as a validated grasp, command, or success prediction. Use grasp-pose tools separately to obtain executable commands.",
  "clusters": [
    {
      "cluster": 0,
      "key": "dexcanvas/traj_00016388#segment2",
      "parent": "dexcanvas:cap_00002243",
      "kind": "dexcanvas",
      "source": "dexcanvas",
      "object": "banana",
      "object_asset": "/mnt/cpfs/workspace/DataEngine/assets/dexcanvas_sharpa/banana.usd",
      "descriptor_path": "/mnt/cpfs/workspace/rq_ws/outputs/dexcanvas_inhand_expansion_20261016/data/descriptors/039612.json",
      "reference": "/mnt/cpfs/workspace/DataEngine/data/retarget/dexcanvas_sharpa_right_v1/train-00128/traj_00016388.npz",
      "source_frame_index": 7,
      "phase": "unspecified",
      "near_contact_fingers": 2,
      "contact_pattern": "11000",
      "min_tip_surface_distance_m": 0.008013265717868418,
      "mean_tip_surface_distance_m": 0.018091424210934917,
      "object_size_x_m": 0.07507903501391411,
      "object_size_y_m": 0.045079197734594345,
      "object_size_z_m": 0.19623499363660812,
      "object_aspect_1": 0.38259758681444433,
      "object_aspect_2": 0.2297204840950687,
      "object_collision_scale_m": 0.19622765481472015,
      "tabletop_pick_success": false,
      "pose_tracking_success": true,
      "lift_with_two_tip_contact_0_5s": false,
      "retained_through_reference_lift": false,
      "position_mean_m": 0.0362080598039166,
      "force_over20_fraction": 0.0,
      "pca_x": -0.3420270718233103,
      "pca_y": -0.6452077176693259,
      "reference_role": "reference_only",
      "command_output": false,
      "joint_pose_rad": [
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        -0.1745329350233078,
        0.3059999942779541,
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      ],
      "link_order": [
        "hand_C_MC",
        "thumb_MC",
        "thumb_PP",
        "thumb_DP",
        "thumb_elastomer",
        "index_MCP_VL",
        "index_PP",
        "index_MP",
        "index_DP",
        "index_elastomer",
        "middle_MCP_VL",
        "middle_PP",
        "middle_MP",
        "middle_DP",
        "middle_elastomer",
        "ring_MCP_VL",
        "ring_PP",
        "ring_MP",
        "ring_DP",
        "ring_elastomer",
        "pinky_MC",
        "pinky_MCP_VL",
        "pinky_PP",
        "pinky_MP",
        "pinky_DP",
        "pinky_elastomer"
      ],
      "link_clearance_m": [
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        0.009472009725868702,
        0.001283901510760188,
        0.0016188864829018712,
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        0.003500616643577814,
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        0.0,
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        0.004468696191906929,
        0.030313976109027863,
        0.023265976458787918,
        0.018573356792330742,
        0.020865820348262787,
        0.020322244614362717,
        0.041804712265729904,
        0.03548767790198326,
        0.0331275500357151,
        0.02216670662164688,
        0.019283616915345192,
        0.017938364297151566
      ],
      "near_links_le_5mm": [
        "thumb_DP",
        "thumb_elastomer",
        "index_MP",
        "index_DP",
        "index_elastomer",
        "middle_elastomer"
      ],
      "near_link_count_le_5mm": 6,
      "hand_image": "images/cluster_0_hand.png",
      "hoi_diagram": "images/cluster_0_hoi_reference.png",
      "joint_names": [
        "right_thumb_CMC_FE",
        "right_thumb_CMC_AA",
        "right_thumb_MCP_FE",
        "right_thumb_MCP_AA",
        "right_thumb_IP",
        "right_index_MCP_FE",
        "right_index_MCP_AA",
        "right_index_PIP",
        "right_index_DIP",
        "right_middle_MCP_FE",
        "right_middle_MCP_AA",
        "right_middle_PIP",
        "right_middle_DIP",
        "right_ring_MCP_FE",
        "right_ring_MCP_AA",
        "right_ring_PIP",
        "right_ring_DIP",
        "right_pinky_CMC",
        "right_pinky_MCP_FE",
        "right_pinky_MCP_AA",
        "right_pinky_PIP",
        "right_pinky_DIP"
      ],
      "cluster_population": 2278
    },
    {
      "cluster": 1,
      "key": "dexcanvas/traj_00018497#segment0",
      "parent": "dexcanvas:cap_00002681",
      "kind": "dexcanvas",
      "source": "dexcanvas",
      "object": "cube1",
      "object_asset": "/mnt/cpfs/workspace/DataEngine/assets/dexcanvas_sharpa/cube1.usd",
      "descriptor_path": "/mnt/cpfs/workspace/rq_ws/outputs/hand_hoi_sonic_v1_20261014/data/general_dexcanvas_50g/descriptors/003102.json",
      "reference": "/mnt/cpfs/workspace/DataEngine/data/retarget/dexcanvas_sharpa_right_v1/train-00145/traj_00018497.npz",
      "source_frame_index": 146,
      "phase": "unspecified",
      "near_contact_fingers": 4,
      "contact_pattern": "11110",
      "min_tip_surface_distance_m": 0.004401143910421872,
      "mean_tip_surface_distance_m": 0.01111635987569053,
      "object_size_x_m": 0.08672778680920601,
      "object_size_y_m": 0.0873301737010479,
      "object_size_z_m": 0.08121252432465553,
      "object_aspect_1": 0.9931021906139337,
      "object_aspect_2": 0.9299480452502643,
      "object_collision_scale_m": 0.0873301774263382,
      "tabletop_pick_success": false,
      "pose_tracking_success": true,
      "lift_with_two_tip_contact_0_5s": false,
      "retained_through_reference_lift": false,
      "position_mean_m": 0.016846522318643965,
      "force_over20_fraction": 0.026041666666666668,
      "pca_x": 0.9838207584321033,
      "pca_y": 0.48726167697411354,
      "reference_role": "reference_only",
      "command_output": false,
      "joint_pose_rad": [
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        0.05985205993056297,
        0.5119919180870056,
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        -0.0016510231653228402,
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        -0.00479617714881897,
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        -0.1745329350233078,
        0.28492769598960876,
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        0.0
      ],
      "link_order": [
        "hand_C_MC",
        "thumb_MC",
        "thumb_PP",
        "thumb_DP",
        "thumb_elastomer",
        "index_MCP_VL",
        "index_PP",
        "index_MP",
        "index_DP",
        "index_elastomer",
        "middle_MCP_VL",
        "middle_PP",
        "middle_MP",
        "middle_DP",
        "middle_elastomer",
        "ring_MCP_VL",
        "ring_PP",
        "ring_MP",
        "ring_DP",
        "ring_elastomer",
        "pinky_MC",
        "pinky_MCP_VL",
        "pinky_PP",
        "pinky_MP",
        "pinky_DP",
        "pinky_elastomer"
      ],
      "link_clearance_m": [
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        0.000890614464879036,
        0.00032530579483136535,
        0.0003139818145427853,
        0.03172196075320244,
        0.014969343319535255,
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        0.0035324092023074627,
        0.003334194654598832,
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        0.009046141989529133,
        0.0013925102539360523,
        0.002335724188014865,
        0.00019463112403173,
        0.030641835182905197,
        0.011672867462038994,
        0.004559280816465616,
        0.004987261723726988,
        0.004981449339538813,
        0.046679526567459106,
        0.037220388650894165,
        0.0266684852540493,
        0.01743198372423649,
        0.017910413444042206,
        0.01801186241209507
      ],
      "near_links_le_5mm": [
        "thumb_PP",
        "thumb_DP",
        "thumb_elastomer",
        "index_MP",
        "index_DP",
        "index_elastomer",
        "middle_MP",
        "middle_DP",
        "middle_elastomer",
        "ring_MP",
        "ring_DP",
        "ring_elastomer"
      ],
      "near_link_count_le_5mm": 12,
      "hand_image": "images/cluster_1_hand.png",
      "hoi_diagram": "images/cluster_1_hoi_reference.png",
      "joint_names": [
        "right_thumb_CMC_FE",
        "right_thumb_CMC_AA",
        "right_thumb_MCP_FE",
        "right_thumb_MCP_AA",
        "right_thumb_IP",
        "right_index_MCP_FE",
        "right_index_MCP_AA",
        "right_index_PIP",
        "right_index_DIP",
        "right_middle_MCP_FE",
        "right_middle_MCP_AA",
        "right_middle_PIP",
        "right_middle_DIP",
        "right_ring_MCP_FE",
        "right_ring_MCP_AA",
        "right_ring_PIP",
        "right_ring_DIP",
        "right_pinky_CMC",
        "right_pinky_MCP_FE",
        "right_pinky_MCP_AA",
        "right_pinky_PIP",
        "right_pinky_DIP"
      ],
      "cluster_population": 1560
    },
    {
      "cluster": 2,
      "key": "dexycb_lifted/dexycb_02_right_004_sugar_box_20200813_145951_00",
      "parent": "dexycb_lifted/dexycb_02_right_004_sugar_box_20200813_145951_00",
      "kind": "spider",
      "source": "spider",
      "object": "unknown",
      "object_asset": "/mnt/cpfs/workspace/DataEngine/assets/hand_system0/object_usd_20261011/spider/usd/dexycb_02_right_004_sugar_box_20200813_145951_00.usd",
      "descriptor_path": "/mnt/cpfs/workspace/rq_ws/outputs/hand_system0_v1/general_release_teacher_improved_hrdex_20261013/references/000120.json",
      "reference": "/mnt/cpfs/workspace/DataEngine/data/local_system0_20261011/hoi/spider/processed/dexycb_lifted/sharpa/right/dexycb_02_right_004_sugar_box_20200813_145951_00",
      "source_frame_index": 8,
      "phase": "unspecified",
      "near_contact_fingers": 4,
      "contact_pattern": "11110",
      "min_tip_surface_distance_m": 0.0013120443826035348,
      "mean_tip_surface_distance_m": 0.005836747124349654,
      "object_size_x_m": 0.053193140774965286,
      "object_size_y_m": 0.09655017778277397,
      "object_size_z_m": 0.17724956572055817,
      "object_aspect_1": 0.5447131979718902,
      "object_aspect_2": 0.3001030809792033,
      "object_collision_scale_m": 0.17724956572055817,
      "tabletop_pick_success": true,
      "pose_tracking_success": false,
      "lift_with_two_tip_contact_0_5s": true,
      "retained_through_reference_lift": true,
      "position_mean_m": 0.025586287420251933,
      "force_over20_fraction": 0.2625,
      "pca_x": -0.324197857469614,
      "pca_y": 0.6892937577616567,
      "reference_role": "reference_only",
      "command_output": false,
      "joint_pose_rad": [
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      ],
      "link_order": [
        "hand_C_MC",
        "thumb_MC",
        "thumb_PP",
        "thumb_DP",
        "thumb_elastomer",
        "index_MCP_VL",
        "index_PP",
        "index_MP",
        "index_DP",
        "index_elastomer",
        "middle_MCP_VL",
        "middle_PP",
        "middle_MP",
        "middle_DP",
        "middle_elastomer",
        "ring_MCP_VL",
        "ring_PP",
        "ring_MP",
        "ring_DP",
        "ring_elastomer",
        "pinky_MC",
        "pinky_MCP_VL",
        "pinky_PP",
        "pinky_MP",
        "pinky_DP",
        "pinky_elastomer"
      ],
      "link_clearance_m": [
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      ],
      "near_links_le_5mm": [
        "thumb_DP",
        "thumb_elastomer",
        "index_PP",
        "index_MP",
        "index_DP",
        "index_elastomer",
        "middle_PP",
        "middle_MP",
        "middle_DP",
        "middle_elastomer",
        "ring_PP",
        "ring_MP",
        "ring_DP",
        "ring_elastomer",
        "pinky_MP",
        "pinky_DP"
      ],
      "near_link_count_le_5mm": 16,
      "hand_image": "images/cluster_2_hand.png",
      "hoi_diagram": "images/cluster_2_hoi_reference.png",
      "joint_names": [
        "right_thumb_CMC_FE",
        "right_thumb_CMC_AA",
        "right_thumb_MCP_FE",
        "right_thumb_MCP_AA",
        "right_thumb_IP",
        "right_index_MCP_FE",
        "right_index_MCP_AA",
        "right_index_PIP",
        "right_index_DIP",
        "right_middle_MCP_FE",
        "right_middle_MCP_AA",
        "right_middle_PIP",
        "right_middle_DIP",
        "right_ring_MCP_FE",
        "right_ring_MCP_AA",
        "right_ring_PIP",
        "right_ring_DIP",
        "right_pinky_CMC",
        "right_pinky_MCP_FE",
        "right_pinky_MCP_AA",
        "right_pinky_PIP",
        "right_pinky_DIP"
      ],
      "cluster_population": 624
    },
    {
      "cluster": 3,
      "key": "oakink_native/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45/stage21/part0",
      "parent": "OakInk2/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45",
      "kind": "quick_hoi",
      "source": "oakink_native",
      "object": "O02@0030@00002",
      "object_asset": "/mnt/cpfs/workspace/rq_ws/outputs/oakink_native_preparation_20261017/assets/O02@0030@00002.usd",
      "descriptor_path": "/mnt/cpfs/workspace/rq_ws/outputs/oakink_native_preparation_20261017/retarget/descriptors/0088.json",
      "reference": "/mnt/cpfs/workspace/rq_ws/outputs/oakink_native_preparation_20261017/retarget/0088/reference_pose.npz",
      "source_frame_index": 246,
      "phase": "unspecified",
      "near_contact_fingers": 4,
      "contact_pattern": "11110",
      "min_tip_surface_distance_m": 0.005499815808923572,
      "mean_tip_surface_distance_m": 0.009201746246601573,
      "object_size_x_m": 0.04142899997532368,
      "object_size_y_m": 0.0214610006660223,
      "object_size_z_m": 0.19349399954080582,
      "object_aspect_1": 0.21410999862342886,
      "object_aspect_2": 0.11091300359159925,
      "object_collision_scale_m": 0.19349165260791779,
      "tabletop_pick_success": false,
      "pose_tracking_success": false,
      "lift_with_two_tip_contact_0_5s": false,
      "retained_through_reference_lift": false,
      "position_mean_m": 0.37036548197243574,
      "force_over20_fraction": 0.0,
      "pca_x": -1.424034926136206,
      "pca_y": -0.20470118418372032,
      "reference_role": "reference_only",
      "command_output": false,
      "joint_pose_rad": [
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      ],
      "link_order": [
        "hand_C_MC",
        "thumb_MC",
        "thumb_PP",
        "thumb_DP",
        "thumb_elastomer",
        "index_MCP_VL",
        "index_PP",
        "index_MP",
        "index_DP",
        "index_elastomer",
        "middle_MCP_VL",
        "middle_PP",
        "middle_MP",
        "middle_DP",
        "middle_elastomer",
        "ring_MCP_VL",
        "ring_PP",
        "ring_MP",
        "ring_DP",
        "ring_elastomer",
        "pinky_MC",
        "pinky_MCP_VL",
        "pinky_PP",
        "pinky_MP",
        "pinky_DP",
        "pinky_elastomer"
      ],
      "link_clearance_m": [
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      ],
      "near_links_le_5mm": [
        "thumb_PP",
        "thumb_DP",
        "thumb_elastomer",
        "index_MP",
        "index_DP",
        "index_elastomer",
        "middle_DP",
        "middle_elastomer",
        "ring_DP",
        "ring_elastomer"
      ],
      "near_link_count_le_5mm": 10,
      "hand_image": "images/cluster_3_hand.png",
      "hoi_diagram": "images/cluster_3_hoi_reference.png",
      "joint_names": [
        "right_thumb_CMC_FE",
        "right_thumb_CMC_AA",
        "right_thumb_MCP_FE",
        "right_thumb_MCP_AA",
        "right_thumb_IP",
        "right_index_MCP_FE",
        "right_index_MCP_AA",
        "right_index_PIP",
        "right_index_DIP",
        "right_middle_MCP_FE",
        "right_middle_MCP_AA",
        "right_middle_PIP",
        "right_middle_DIP",
        "right_ring_MCP_FE",
        "right_ring_MCP_AA",
        "right_ring_PIP",
        "right_ring_DIP",
        "right_pinky_CMC",
        "right_pinky_MCP_FE",
        "right_pinky_MCP_AA",
        "right_pinky_PIP",
        "right_pinky_DIP"
      ],
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