{
  "scene_id": "ud4_kitchen_demo",
  "source_method": "ud4_annotation_demo",
  "task_instruction": "A kitchen where a person opens appliances and storage to prepare food.",
  "renderer_mode": "none (UD4 annotation demo — no mesh render / no VLM call)",
  "objects": [
    {
      "id": "ud4_kitchen_demo_obj0_articraft",
      "category": "flip top bottle",
      "source": "articraft",
      "source_id": "rec_a-classic-occ-bottle-with-articulated-cap_20260321_164200_149541_6af2da87"
    },
    {
      "id": "ud4_kitchen_demo_obj1_articraft",
      "category": "satellite with articulated solar panels",
      "source": "articraft",
      "source_id": "rec_a-realistic-model-of-a-satellite_20260402_161121_286240_c5af0a24"
    },
    {
      "id": "ud4_kitchen_demo_obj2_articraft",
      "category": "cctv mast with pantilt camera head",
      "source": "articraft",
      "source_id": "rec_cctv_mast_with_pantilt_camera_head_0001"
    },
    {
      "id": "ud4_kitchen_demo_obj3_articraft",
      "category": "cctv mast with pantilt camera head",
      "source": "articraft",
      "source_id": "rec_cctv_mast_with_pantilt_camera_head_0002"
    },
    {
      "id": "ud4_kitchen_demo_obj4_articraft",
      "category": "cctv mast with pantilt camera head",
      "source": "articraft",
      "source_id": "rec_cctv_mast_with_pantilt_camera_head_0003"
    },
    {
      "id": "ud4_kitchen_demo_obj5_articraft",
      "category": "cctv mast with pantilt camera head",
      "source": "articraft",
      "source_id": "rec_cctv_mast_with_pantilt_camera_head_0004"
    }
  ],
  "overview_render_images": [],
  "checks": [
    {
      "check_id": "ud4_kitchen_demo_obj0_articraft__affordance_exposure__1",
      "metric": "affordance_exposure",
      "subject_id": "ud4_kitchen_demo_obj0_articraft",
      "target_ids": [],
      "question": "Is the openable surface/part of the flip top bottle exposed and usable?",
      "asset_facts": {
        "category_norm": "flip top bottle",
        "affordances": [
          "openable",
          "graspable",
          "turn"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 1,
        "n_regions": 0,
        "functional_dependencies": [
          "countertop.n.01",
          "cup.n.01",
          "refrigerator.n.01"
        ],
        "functional_description": "A bottle with a hinged cap that flips open and shut for convenient dispensing and resealing",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj0_articraft__affordance_exposure__2",
      "metric": "affordance_exposure",
      "subject_id": "ud4_kitchen_demo_obj0_articraft",
      "target_ids": [],
      "question": "Is the graspable surface/part of the flip top bottle exposed and usable?",
      "asset_facts": {
        "category_norm": "flip top bottle",
        "affordances": [
          "openable",
          "graspable",
          "turn"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 1,
        "n_regions": 0,
        "functional_dependencies": [
          "countertop.n.01",
          "cup.n.01",
          "refrigerator.n.01"
        ],
        "functional_description": "A bottle with a hinged cap that flips open and shut for convenient dispensing and resealing",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj0_articraft__interaction_clearance__3",
      "metric": "interaction_clearance",
      "subject_id": "ud4_kitchen_demo_obj0_articraft",
      "target_ids": [],
      "question": "Does 'cap' (revolute) have clearance to actuate over its joint range?",
      "asset_facts": {
        "category_norm": "flip top bottle",
        "affordances": [
          "openable",
          "graspable",
          "turn"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 1,
        "n_regions": 0,
        "functional_dependencies": [
          "countertop.n.01",
          "cup.n.01",
          "refrigerator.n.01"
        ],
        "functional_description": "A bottle with a hinged cap that flips open and shut for convenient dispensing and resealing",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj0_articraft__spatial_accessibility__4",
      "metric": "spatial_accessibility",
      "subject_id": "ud4_kitchen_demo_obj0_articraft",
      "target_ids": [],
      "question": "Can a standing person approach and reach the flip top bottle?",
      "asset_facts": {
        "category_norm": "flip top bottle",
        "affordances": [
          "openable",
          "graspable",
          "turn"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 1,
        "n_regions": 0,
        "functional_dependencies": [
          "countertop.n.01",
          "cup.n.01",
          "refrigerator.n.01"
        ],
        "functional_description": "A bottle with a hinged cap that flips open and shut for convenient dispensing and resealing",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj0_articraft__functional_dependency__5",
      "metric": "functional_dependency",
      "subject_id": "ud4_kitchen_demo_obj0_articraft",
      "target_ids": [
        "countertop.n.01"
      ],
      "question": "Is the required/related 'countertop.n.01' present for the flip top bottle to function?",
      "asset_facts": {
        "category_norm": "flip top bottle",
        "affordances": [
          "openable",
          "graspable",
          "turn"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 1,
        "n_regions": 0,
        "functional_dependencies": [
          "countertop.n.01",
          "cup.n.01",
          "refrigerator.n.01"
        ],
        "functional_description": "A bottle with a hinged cap that flips open and shut for convenient dispensing and resealing",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj0_articraft__functional_dependency__6",
      "metric": "functional_dependency",
      "subject_id": "ud4_kitchen_demo_obj0_articraft",
      "target_ids": [
        "cup.n.01"
      ],
      "question": "Is the required/related 'cup.n.01' present for the flip top bottle to function?",
      "asset_facts": {
        "category_norm": "flip top bottle",
        "affordances": [
          "openable",
          "graspable",
          "turn"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 1,
        "n_regions": 0,
        "functional_dependencies": [
          "countertop.n.01",
          "cup.n.01",
          "refrigerator.n.01"
        ],
        "functional_description": "A bottle with a hinged cap that flips open and shut for convenient dispensing and resealing",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj1_articraft__affordance_exposure__1",
      "metric": "affordance_exposure",
      "subject_id": "ud4_kitchen_demo_obj1_articraft",
      "target_ids": [],
      "question": "Is the supportable surface/part of the satellite with articulated solar panels exposed and usable?",
      "asset_facts": {
        "category_norm": "satellite with articulated solar panels",
        "affordances": [
          "supportable",
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 3,
        "n_regions": 0,
        "functional_dependencies": [
          "parabolic_dish_on_azimuth_elevation_mount",
          "camera.n.01",
          "searchlight_tower"
        ],
        "functional_description": "An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj1_articraft__affordance_exposure__2",
      "metric": "affordance_exposure",
      "subject_id": "ud4_kitchen_demo_obj1_articraft",
      "target_ids": [],
      "question": "Is the openable surface/part of the satellite with articulated solar panels exposed and usable?",
      "asset_facts": {
        "category_norm": "satellite with articulated solar panels",
        "affordances": [
          "supportable",
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 3,
        "n_regions": 0,
        "functional_dependencies": [
          "parabolic_dish_on_azimuth_elevation_mount",
          "camera.n.01",
          "searchlight_tower"
        ],
        "functional_description": "An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj1_articraft__interaction_clearance__3",
      "metric": "interaction_clearance",
      "subject_id": "ud4_kitchen_demo_obj1_articraft",
      "target_ids": [],
      "question": "Does 'left_solar_wing' (revolute) have clearance to actuate over its joint range?",
      "asset_facts": {
        "category_norm": "satellite with articulated solar panels",
        "affordances": [
          "supportable",
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 3,
        "n_regions": 0,
        "functional_dependencies": [
          "parabolic_dish_on_azimuth_elevation_mount",
          "camera.n.01",
          "searchlight_tower"
        ],
        "functional_description": "An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj1_articraft__interaction_clearance__4",
      "metric": "interaction_clearance",
      "subject_id": "ud4_kitchen_demo_obj1_articraft",
      "target_ids": [],
      "question": "Does 'right_solar_wing' (revolute) have clearance to actuate over its joint range?",
      "asset_facts": {
        "category_norm": "satellite with articulated solar panels",
        "affordances": [
          "supportable",
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 3,
        "n_regions": 0,
        "functional_dependencies": [
          "parabolic_dish_on_azimuth_elevation_mount",
          "camera.n.01",
          "searchlight_tower"
        ],
        "functional_description": "An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj1_articraft__spatial_accessibility__5",
      "metric": "spatial_accessibility",
      "subject_id": "ud4_kitchen_demo_obj1_articraft",
      "target_ids": [],
      "question": "Can a standing person approach and reach the satellite with articulated solar panels?",
      "asset_facts": {
        "category_norm": "satellite with articulated solar panels",
        "affordances": [
          "supportable",
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 3,
        "n_regions": 0,
        "functional_dependencies": [
          "parabolic_dish_on_azimuth_elevation_mount",
          "camera.n.01",
          "searchlight_tower"
        ],
        "functional_description": "An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj1_articraft__functional_dependency__6",
      "metric": "functional_dependency",
      "subject_id": "ud4_kitchen_demo_obj1_articraft",
      "target_ids": [
        "parabolic_dish_on_azimuth_elevation_mount"
      ],
      "question": "Is the required/related 'parabolic_dish_on_azimuth_elevation_mount' present for the satellite with articulated solar panels to function?",
      "asset_facts": {
        "category_norm": "satellite with articulated solar panels",
        "affordances": [
          "supportable",
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 3,
        "n_regions": 0,
        "functional_dependencies": [
          "parabolic_dish_on_azimuth_elevation_mount",
          "camera.n.01",
          "searchlight_tower"
        ],
        "functional_description": "An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj1_articraft__functional_dependency__7",
      "metric": "functional_dependency",
      "subject_id": "ud4_kitchen_demo_obj1_articraft",
      "target_ids": [
        "camera.n.01"
      ],
      "question": "Is the required/related 'camera.n.01' present for the satellite with articulated solar panels to function?",
      "asset_facts": {
        "category_norm": "satellite with articulated solar panels",
        "affordances": [
          "supportable",
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 3,
        "n_regions": 0,
        "functional_dependencies": [
          "parabolic_dish_on_azimuth_elevation_mount",
          "camera.n.01",
          "searchlight_tower"
        ],
        "functional_description": "An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj2_articraft__affordance_exposure__1",
      "metric": "affordance_exposure",
      "subject_id": "ud4_kitchen_demo_obj2_articraft",
      "target_ids": [],
      "question": "Is the openable surface/part of the cctv mast with pantilt camera head exposed and usable?",
      "asset_facts": {
        "category_norm": "cctv mast with pantilt camera head",
        "affordances": [
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 2,
        "n_regions": 0,
        "functional_dependencies": [
          "camera.n.01",
          "camera.n.01",
          "monitor.n.04"
        ],
        "functional_description": "A surveillance pole-mounted camera system with a pan-tilt head for adjustable monitoring coverage",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj2_articraft__interaction_clearance__2",
      "metric": "interaction_clearance",
      "subject_id": "ud4_kitchen_demo_obj2_articraft",
      "target_ids": [],
      "question": "Does 'pan_head' (revolute) have clearance to actuate over its joint range?",
      "asset_facts": {
        "category_norm": "cctv mast with pantilt camera head",
        "affordances": [
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 2,
        "n_regions": 0,
        "functional_dependencies": [
          "camera.n.01",
          "camera.n.01",
          "monitor.n.04"
        ],
        "functional_description": "A surveillance pole-mounted camera system with a pan-tilt head for adjustable monitoring coverage",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj2_articraft__interaction_clearance__3",
      "metric": "interaction_clearance",
      "subject_id": "ud4_kitchen_demo_obj2_articraft",
      "target_ids": [],
      "question": "Does 'camera_head' (revolute) have clearance to actuate over its joint range?",
      "asset_facts": {
        "category_norm": "cctv mast with pantilt camera head",
        "affordances": [
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 2,
        "n_regions": 0,
        "functional_dependencies": [
          "camera.n.01",
          "camera.n.01",
          "monitor.n.04"
        ],
        "functional_description": "A surveillance pole-mounted camera system with a pan-tilt head for adjustable monitoring coverage",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj2_articraft__spatial_accessibility__4",
      "metric": "spatial_accessibility",
      "subject_id": "ud4_kitchen_demo_obj2_articraft",
      "target_ids": [],
      "question": "Can a standing person approach and reach the cctv mast with pantilt camera head?",
      "asset_facts": {
        "category_norm": "cctv mast with pantilt camera head",
        "affordances": [
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 2,
        "n_regions": 0,
        "functional_dependencies": [
          "camera.n.01",
          "camera.n.01",
          "monitor.n.04"
        ],
        "functional_description": "A surveillance pole-mounted camera system with a pan-tilt head for adjustable monitoring coverage",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj2_articraft__functional_dependency__5",
      "metric": "functional_dependency",
      "subject_id": "ud4_kitchen_demo_obj2_articraft",
      "target_ids": [
        "camera.n.01"
      ],
      "question": "Is the required/related 'camera.n.01' present for the cctv mast with pantilt camera head to function?",
      "asset_facts": {
        "category_norm": "cctv mast with pantilt camera head",
        "affordances": [
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        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 2,
        "n_regions": 0,
        "functional_dependencies": [
          "camera.n.01",
          "camera.n.01",
          "monitor.n.04"
        ],
        "functional_description": "A surveillance pole-mounted camera system with a pan-tilt head for adjustable monitoring coverage",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj2_articraft__functional_dependency__6",
      "metric": "functional_dependency",
      "subject_id": "ud4_kitchen_demo_obj2_articraft",
      "target_ids": [
        "camera.n.01"
      ],
      "question": "Is the required/related 'camera.n.01' present for the cctv mast with pantilt camera head to function?",
      "asset_facts": {
        "category_norm": "cctv mast with pantilt camera head",
        "affordances": [
          "openable"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 2,
        "n_regions": 0,
        "functional_dependencies": [
          "camera.n.01",
          "camera.n.01",
          "monitor.n.04"
        ],
        "functional_description": "A surveillance pole-mounted camera system with a pan-tilt head for adjustable monitoring coverage",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj3_articraft__affordance_exposure__1",
      "metric": "affordance_exposure",
      "subject_id": "ud4_kitchen_demo_obj3_articraft",
      "target_ids": [],
      "question": "Is the supportable surface/part of the cctv mast with pantilt camera head exposed and usable?",
      "asset_facts": {
        "category_norm": "cctv mast with pantilt camera head",
        "affordances": [
          "supportable",
          "openable",
          "graspable",
          "turn"
        ],
        "benchmark_relevance": "functional",
        "front_face": null,
        "source": "ud4_annotation_layer",
        "confidence": 0.8,
        "is_articulated": true,
        "n_parts": 3,
        "n_regions": 0,
        "functional_dependencies": [
          "camera.n.01",
          "camera.n.01",
          "monitor.n.04"
        ],
        "functional_description": "A surveillance pole-mounted camera system with a pan-tilt head for adjustable monitoring coverage",
        "has_operation_space": false
      },
      "evidence": {
        "render_images": [],
        "render_image": null
      }
    },
    {
      "check_id": "ud4_kitchen_demo_obj3_articraft__affordance_exposure__2",
      "metric": "affordance_exposure",
      "subject_id": "ud4_kitchen_demo_obj3_articraft",
      "target_ids": [],
      "question": "Is the openable surface/part of the cctv mast with pantilt camera head exposed and usable?",
      "asset_facts": {
        "category_norm": "cctv mast with pantilt camera head",
        "affordances": [
          "supportable",
          "openable",
          "graspable",
          "turn"
        ],
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      "check_id": "ud4_kitchen_demo_obj3_articraft__functional_dependency__8",
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}