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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"]}