{
  "created_at": "2026-05-24T14:14:22+00:00",
  "command": "/data/250010098/PAct-Transporter/tools/propose_affordance_labels.py --source unified --call-llm-for-unknown --llm-model gpt-5.2 --out-dir /data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/affordance_label_proposer_20260524_unified_llm",
  "source": "unified",
  "input": "/data/250010098/Unified_dataset/unified_asset_library/v0.1/asset_index.json",
  "canonical_labels": [
    "open",
    "close",
    "push",
    "pull",
    "grasp",
    "contain",
    "support",
    "sit",
    "place_on",
    "pour",
    "cut",
    "stab",
    "press",
    "turn",
    "toggle",
    "wear",
    "listen",
    "display",
    "move"
  ],
  "summary": {
    "asset_count": 53,
    "rule_count": 51,
    "llm_count": 2,
    "proposal_count": 208,
    "empty_proposal_count": 0
  },
  "records": [
    {
      "asset_id": "ArtVIP:MICKE",
      "dataset": "ArtVIP",
      "category": "Ikea_furniture",
      "synset": "",
      "source_asset_id": "MICKE",
      "name": "MICKE",
      "description": "Converted ArtVIP asset MICKE from raw USD to SceneSmith-compatible SDF.",
      "decision": "llm",
      "llm_info": {
        "status": "called",
        "model": "gpt-5.2",
        "base_url_configured": true
      },
      "proposals": [
        {
          "canonical_label": "support",
          "query_text": "Identify the flat horizontal surfaces of the MICKE furniture where objects can be supported (desktop or shelf-like surfaces).",
          "source": "seqafford_style_llm",
          "raw_source_label": "A desk-like furniture surface that can support items placed on it.",
          "confidence": 0.62,
          "evidence": {
            "llm_model": "gpt-5.2",
            "metadata_evidence": [
              "category: Ikea_furniture",
              "name: MICKE (commonly an IKEA desk series)"
            ],
            "basis": "SeqAfford-style metadata/render-context instruction proposal"
          }
        },
        {
          "canonical_label": "place_on",
          "query_text": "Segment the regions on the MICKE furniture where you would place items (the top surface and any shelf tops).",
          "source": "seqafford_style_llm",
          "raw_source_label": "A tabletop or shelf surface intended for placing objects on top.",
          "confidence": 0.6,
          "evidence": {
            "llm_model": "gpt-5.2",
            "metadata_evidence": [
              "category: Ikea_furniture",
              "name: MICKE (commonly an IKEA desk series)"
            ],
            "basis": "SeqAfford-style metadata/render-context instruction proposal"
          }
        },
        {
          "canonical_label": "open",
          "query_text": "Locate any articulated storage parts on MICKE (drawer fronts or cabinet doors) that can be opened.",
          "source": "seqafford_style_llm",
          "raw_source_label": "Articulated parts such as drawers or cabinet doors can be opened to access storage.",
          "confidence": 0.52,
          "evidence": {
            "llm_model": "gpt-5.2",
            "metadata_evidence": [
              "articulation_status: available_or_preserved",
              "category: Ikea_furniture"
            ],
            "basis": "SeqAfford-style metadata/render-context instruction proposal"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "Find the drawer fronts or cabinet doors on MICKE that you would close after use, including their front faces used for interaction.",
          "source": "seqafford_style_llm",
          "raw_source_label": "Articulated parts such as drawers or cabinet doors can be closed to cover storage.",
          "confidence": 0.5,
          "evidence": {
            "llm_model": "gpt-5.2",
            "metadata_evidence": [
              "articulation_status: available_or_preserved",
              "category: Ikea_furniture"
            ],
            "basis": "SeqAfford-style metadata/render-context instruction proposal"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:medical_cart",
      "dataset": "ArtVIP",
      "category": "Medical_equipment",
      "synset": "",
      "source_asset_id": "medical_cart",
      "name": "medical_cart",
      "description": "Converted ArtVIP asset medical_cart from raw USD to SceneSmith-compatible SDF.",
      "decision": "llm",
      "llm_info": {
        "status": "called",
        "model": "gpt-5.2",
        "base_url_configured": true
      },
      "proposals": [
        {
          "canonical_label": "push",
          "query_text": "Identify the parts of the medical cart you would push to roll it (e.g., handle/frame) and segment the pushable regions.",
          "source": "seqafford_style_llm",
          "raw_source_label": "Push the medical cart to move it across the floor.",
          "confidence": 0.72,
          "evidence": {
            "llm_model": "gpt-5.2",
            "metadata_evidence": [
              "name: medical_cart",
              "category: Medical_equipment",
              "articulation_status: available_or_preserved (likely has movable components like wheels)"
            ],
            "basis": "SeqAfford-style metadata/render-context instruction proposal"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "Segment the regions of the medical cart suitable for pulling it toward you (such as the handle or sturdy frame).",
          "source": "seqafford_style_llm",
          "raw_source_label": "Pull the medical cart to reposition it.",
          "confidence": 0.66,
          "evidence": {
            "llm_model": "gpt-5.2",
            "metadata_evidence": [
              "name: medical_cart",
              "category: Medical_equipment",
              "articulation_status: available_or_preserved"
            ],
            "basis": "SeqAfford-style metadata/render-context instruction proposal"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "Locate and segment the container regions on the medical cart (drawers/trays/shelves) where items can be stored inside.",
          "source": "seqafford_style_llm",
          "raw_source_label": "Contain medical supplies in drawers, trays, or bins on the cart.",
          "confidence": 0.6,
          "evidence": {
            "llm_model": "gpt-5.2",
            "metadata_evidence": [
              "name: medical_cart",
              "category: Medical_equipment"
            ],
            "basis": "SeqAfford-style metadata/render-context instruction proposal"
          }
        },
        {
          "canonical_label": "place_on",
          "query_text": "Segment the flat support surfaces on the medical cart where you can place objects (top tray/shelf surfaces).",
          "source": "seqafford_style_llm",
          "raw_source_label": "Place instruments or supplies on the cart’s top surface or shelves.",
          "confidence": 0.58,
          "evidence": {
            "llm_model": "gpt-5.2",
            "metadata_evidence": [
              "name: medical_cart",
              "category: Medical_equipment"
            ],
            "basis": "SeqAfford-style metadata/render-context instruction proposal"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:trash_can_1",
      "dataset": "ArtVIP",
      "category": "household_items",
      "synset": "",
      "source_asset_id": "trash_can_1",
      "name": "trash_can_1",
      "description": "Converted ArtVIP asset trash_can_1 from raw USD to SceneSmith-compatible SDF.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "contain",
          "query_text": "find the region used to contain objects or liquid",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "artvip:trash can 1 household items trash can 1 trash can 1",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp this object by hand",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "artvip:trash can 1 household items trash can 1 trash can 1",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pour",
          "query_text": "find the opening or spout region used to pour",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.76,
          "evidence": {
            "matched_text": "artvip:trash can 1 household items trash can 1 trash can 1",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:dishwasher_1",
      "dataset": "ArtVIP",
      "category": "major_appliances",
      "synset": "",
      "source_asset_id": "dishwasher_1",
      "name": "dishwasher_1",
      "description": "Converted ArtVIP asset dishwasher_1 from raw USD to SceneSmith-compatible SDF.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "artvip:dishwasher 1 major appliances dishwasher 1 dishwasher 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "artvip:dishwasher 1 major appliances dishwasher 1 dishwasher 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "artvip:dishwasher 1 major appliances dishwasher 1 dishwasher 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "artvip:dishwasher 1 major appliances dishwasher 1 dishwasher 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "artvip:dishwasher 1 major appliances dishwasher 1 dishwasher 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:fridge_1",
      "dataset": "ArtVIP",
      "category": "major_appliances",
      "synset": "",
      "source_asset_id": "fridge_1",
      "name": "fridge_1",
      "description": "Converted ArtVIP asset fridge_1 from raw USD to SceneSmith-compatible SDF.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "artvip:fridge 1 major appliances fridge 1 fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "artvip:fridge 1 major appliances fridge 1 fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "artvip:fridge 1 major appliances fridge 1 fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "artvip:fridge 1 major appliances fridge 1 fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "artvip:fridge 1 major appliances fridge 1 fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:microwave_1",
      "dataset": "ArtVIP",
      "category": "small_appliances",
      "synset": "",
      "source_asset_id": "microwave_1",
      "name": "microwave_1",
      "description": "Converted ArtVIP asset microwave_1 from raw USD to SceneSmith-compatible SDF.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "artvip:microwave 1 small appliances microwave 1 microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "artvip:microwave 1 small appliances microwave 1 microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "artvip:microwave 1 small appliances microwave 1 microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "artvip:microwave 1 small appliances microwave 1 microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "artvip:microwave 1 small appliances microwave 1 microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:cabinet_1",
      "dataset": "ArtVIP",
      "category": "small_furniture",
      "synset": "",
      "source_asset_id": "cabinet_1",
      "name": "cabinet_1",
      "description": "Converted ArtVIP asset cabinet_1 from raw USD to SceneSmith-compatible SDF.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the handle or door region used to open this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "artvip:cabinet 1 small furniture cabinet 1 cabinet 1",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the region used to store or contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "artvip:cabinet 1 small furniture cabinet 1 cabinet 1",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or drawer region used to close this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.87,
          "evidence": {
            "matched_text": "artvip:cabinet 1 small furniture cabinet 1 cabinet 1",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or drawer front used to pull it open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "artvip:cabinet 1 small furniture cabinet 1 cabinet 1",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:chair_2",
      "dataset": "ArtVIP",
      "category": "small_furniture",
      "synset": "",
      "source_asset_id": "chair_2",
      "name": "chair_2",
      "description": "Converted ArtVIP asset chair_2 from raw USD to SceneSmith-compatible SDF.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "sit",
          "query_text": "find the seat region used for sitting",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.95,
          "evidence": {
            "matched_text": "artvip:chair 2 small furniture chair 2 chair 2",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "support",
          "query_text": "find the region used to support a seated person",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.9,
          "evidence": {
            "matched_text": "artvip:chair 2 small furniture chair 2 chair 2",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "move",
          "query_text": "find the region used to grasp and move this seat",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.65,
          "evidence": {
            "matched_text": "artvip:chair 2 small furniture chair 2 chair 2",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:faucet_3",
      "dataset": "ArtVIP",
      "category": "small_furniture",
      "synset": "",
      "source_asset_id": "faucet_3",
      "name": "faucet_3",
      "description": "Converted ArtVIP asset faucet_3 from raw USD to SceneSmith-compatible SDF.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "turn",
          "query_text": "find the knob or handle region used to turn the water on or off",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(faucet|tap|showerhead|knob|valve)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "artvip:faucet 3 small furniture faucet 3 faucet 3",
            "matched_pattern": "\\b(faucet|tap|showerhead|knob|valve)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the handle region used to grasp this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(faucet|tap|showerhead|knob|valve)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "artvip:faucet 3 small furniture faucet 3 faucet 3",
            "matched_pattern": "\\b(faucet|tap|showerhead|knob|valve)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "press",
          "query_text": "find the control region used to press or activate this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(faucet|tap|showerhead|knob|valve)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "artvip:faucet 3 small furniture faucet 3 faucet 3",
            "matched_pattern": "\\b(faucet|tap|showerhead|knob|valve)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "ArtVIP:table_1",
      "dataset": "ArtVIP",
      "category": "small_furniture",
      "synset": "",
      "source_asset_id": "table_1",
      "name": "table_1",
      "description": "Converted ArtVIP asset table_1 from raw USD to SceneSmith-compatible SDF.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "support",
          "query_text": "find the top surface used to support objects",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
          "confidence": 0.95,
          "evidence": {
            "matched_text": "artvip:table 1 small furniture table 1 table 1",
            "matched_pattern": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "place_on",
          "query_text": "find the surface where other objects can be placed",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "artvip:table 1 small furniture table 1 table 1",
            "matched_pattern": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:102145",
      "dataset": "GAPartNet",
      "category": "CoffeeMachine",
      "synset": "",
      "source_asset_id": "102145",
      "name": "102145",
      "description": "GAPartNet articulated CoffeeMachine asset 102145",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "press",
          "query_text": "find the button or control region used to press this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.89,
          "evidence": {
            "matched_text": "gapartnet:102145 coffeemachine 102145 102145",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "toggle",
          "query_text": "find the control region used to toggle this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.8,
          "evidence": {
            "matched_text": "gapartnet:102145 coffeemachine 102145 102145",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp or move this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.66,
          "evidence": {
            "matched_text": "gapartnet:102145 coffeemachine 102145 102145",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:103048",
      "dataset": "GAPartNet",
      "category": "CoffeeMachine",
      "synset": "",
      "source_asset_id": "103048",
      "name": "103048",
      "description": "GAPartNet articulated CoffeeMachine asset 103048",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "press",
          "query_text": "find the button or control region used to press this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.89,
          "evidence": {
            "matched_text": "gapartnet:103048 coffeemachine 103048 103048",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "toggle",
          "query_text": "find the control region used to toggle this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.8,
          "evidence": {
            "matched_text": "gapartnet:103048 coffeemachine 103048 103048",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp or move this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.66,
          "evidence": {
            "matched_text": "gapartnet:103048 coffeemachine 103048 103048",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:11622",
      "dataset": "GAPartNet",
      "category": "Dishwasher",
      "synset": "",
      "source_asset_id": "11622",
      "name": "11622",
      "description": "GAPartNet articulated Dishwasher asset 11622",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "gapartnet:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "gapartnet:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "gapartnet:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:12531",
      "dataset": "GAPartNet",
      "category": "Dishwasher",
      "synset": "",
      "source_asset_id": "12531",
      "name": "12531",
      "description": "GAPartNet articulated Dishwasher asset 12531",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "gapartnet:12531 dishwasher 12531 12531",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:12531 dishwasher 12531 12531",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "gapartnet:12531 dishwasher 12531 12531",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:12531 dishwasher 12531 12531",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "gapartnet:12531 dishwasher 12531 12531",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:8867",
      "dataset": "GAPartNet",
      "category": "Door",
      "synset": "",
      "source_asset_id": "8867",
      "name": "8867",
      "description": "GAPartNet articulated Door asset 8867",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the region used to open this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.94,
          "evidence": {
            "matched_text": "gapartnet:8867 door 8867 8867",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the region used to close this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.9,
          "evidence": {
            "matched_text": "gapartnet:8867 door 8867 8867",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or edge region used to pull this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "gapartnet:8867 door 8867 8867",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the surface region used to push this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "gapartnet:8867 door 8867 8867",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:100015",
      "dataset": "GAPartNet",
      "category": "KitchenPot",
      "synset": "",
      "source_asset_id": "100015",
      "name": "100015",
      "description": "GAPartNet articulated KitchenPot asset 100015",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "contain",
          "query_text": "find the region used to contain objects or liquid",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "gapartnet:100015 kitchenpot 100015 100015",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp this object by hand",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "gapartnet:100015 kitchenpot 100015 100015",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pour",
          "query_text": "find the opening or spout region used to pour",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.76,
          "evidence": {
            "matched_text": "gapartnet:100015 kitchenpot 100015 100015",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:7119",
      "dataset": "GAPartNet",
      "category": "Microwave",
      "synset": "",
      "source_asset_id": "7119",
      "name": "7119",
      "description": "GAPartNet articulated Microwave asset 7119",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "gapartnet:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "gapartnet:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "gapartnet:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:101773",
      "dataset": "GAPartNet",
      "category": "Oven",
      "synset": "",
      "source_asset_id": "101773",
      "name": "101773",
      "description": "GAPartNet articulated Oven asset 101773",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "gapartnet:101773 oven 101773 101773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:101773 oven 101773 101773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "gapartnet:101773 oven 101773 101773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:101773 oven 101773 101773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "gapartnet:101773 oven 101773 101773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:10068",
      "dataset": "GAPartNet",
      "category": "Refrigerator",
      "synset": "",
      "source_asset_id": "10068",
      "name": "10068",
      "description": "GAPartNet articulated Refrigerator asset 10068",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "gapartnet:10068 refrigerator 10068 10068",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:10068 refrigerator 10068 10068",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "gapartnet:10068 refrigerator 10068 10068",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:10068 refrigerator 10068 10068",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "gapartnet:10068 refrigerator 10068 10068",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:35059",
      "dataset": "GAPartNet",
      "category": "StorageFurniture",
      "synset": "",
      "source_asset_id": "35059",
      "name": "35059",
      "description": "GAPartNet articulated StorageFurniture asset 35059",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the handle or door region used to open this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "gapartnet:35059 storagefurniture 35059 35059",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the region used to store or contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:35059 storagefurniture 35059 35059",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or drawer region used to close this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.87,
          "evidence": {
            "matched_text": "gapartnet:35059 storagefurniture 35059 35059",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or drawer front used to pull it open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:35059 storagefurniture 35059 35059",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:45267",
      "dataset": "GAPartNet",
      "category": "StorageFurniture",
      "synset": "",
      "source_asset_id": "45267",
      "name": "45267",
      "description": "GAPartNet articulated StorageFurniture asset 45267",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the handle or door region used to open this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "gapartnet:45267 storagefurniture 45267 45267",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the region used to store or contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:45267 storagefurniture 45267 45267",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or drawer region used to close this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.87,
          "evidence": {
            "matched_text": "gapartnet:45267 storagefurniture 45267 45267",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or drawer front used to pull it open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:45267 storagefurniture 45267 45267",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:45463",
      "dataset": "GAPartNet",
      "category": "StorageFurniture",
      "synset": "",
      "source_asset_id": "45463",
      "name": "45463",
      "description": "GAPartNet articulated StorageFurniture asset 45463",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the handle or door region used to open this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "gapartnet:45463 storagefurniture 45463 45463",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the region used to store or contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:45463 storagefurniture 45463 45463",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or drawer region used to close this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.87,
          "evidence": {
            "matched_text": "gapartnet:45463 storagefurniture 45463 45463",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or drawer front used to pull it open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:45463 storagefurniture 45463 45463",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:19179",
      "dataset": "GAPartNet",
      "category": "Table",
      "synset": "",
      "source_asset_id": "19179",
      "name": "19179",
      "description": "GAPartNet articulated Table asset 19179",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "support",
          "query_text": "find the top surface used to support objects",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
          "confidence": 0.95,
          "evidence": {
            "matched_text": "gapartnet:19179 table 19179 19179",
            "matched_pattern": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "place_on",
          "query_text": "find the surface where other objects can be placed",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "gapartnet:19179 table 19179 19179",
            "matched_pattern": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:103466",
      "dataset": "GAPartNet",
      "category": "Toaster",
      "synset": "",
      "source_asset_id": "103466",
      "name": "103466",
      "description": "GAPartNet articulated Toaster asset 103466",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "press",
          "query_text": "find the button or control region used to press this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.89,
          "evidence": {
            "matched_text": "gapartnet:103466 toaster 103466 103466",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "toggle",
          "query_text": "find the control region used to toggle this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.8,
          "evidence": {
            "matched_text": "gapartnet:103466 toaster 103466 103466",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp or move this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.66,
          "evidence": {
            "matched_text": "gapartnet:103466 toaster 103466 103466",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:101319",
      "dataset": "GAPartNet",
      "category": "Toilet",
      "synset": "",
      "source_asset_id": "101319",
      "name": "101319",
      "description": "GAPartNet articulated Toilet asset 101319",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "sit",
          "query_text": "find the seat region used for sitting",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(toilet|commode)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "gapartnet:101319 toilet 101319 101319",
            "matched_pattern": "\\b(toilet|commode)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "support",
          "query_text": "find the region used to support a seated person",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(toilet|commode)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "gapartnet:101319 toilet 101319 101319",
            "matched_pattern": "\\b(toilet|commode)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the bowl region used to contain liquid or waste",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(toilet|commode)\\b",
          "confidence": 0.78,
          "evidence": {
            "matched_text": "gapartnet:101319 toilet 101319 101319",
            "matched_pattern": "\\b(toilet|commode)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "press",
          "query_text": "find the flush control region used to press or activate the toilet",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(toilet|commode)\\b",
          "confidence": 0.66,
          "evidence": {
            "matched_text": "gapartnet:101319 toilet 101319 101319",
            "matched_pattern": "\\b(toilet|commode)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:100731",
      "dataset": "GAPartNet",
      "category": "TrashCan",
      "synset": "",
      "source_asset_id": "100731",
      "name": "100731",
      "description": "GAPartNet articulated TrashCan asset 100731",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "contain",
          "query_text": "find the region used to contain objects or liquid",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "gapartnet:100731 trashcan 100731 100731",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp this object by hand",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "gapartnet:100731 trashcan 100731 100731",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pour",
          "query_text": "find the opening or spout region used to pour",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.76,
          "evidence": {
            "matched_text": "gapartnet:100731 trashcan 100731 100731",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "GAPartNet:100282",
      "dataset": "GAPartNet",
      "category": "WashingMachine",
      "synset": "",
      "source_asset_id": "100282",
      "name": "100282",
      "description": "GAPartNet articulated WashingMachine asset 100282",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "gapartnet:100282 washingmachine 100282 100282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "gapartnet:100282 washingmachine 100282 100282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "gapartnet:100282 washingmachine 100282 100282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "gapartnet:100282 washingmachine 100282 100282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "gapartnet:100282 washingmachine 100282 100282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:179",
      "dataset": "PartNetMobility",
      "category": "Chair",
      "synset": "",
      "source_asset_id": "179",
      "name": "179",
      "description": "PartNetMobility articulated Chair asset 179",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "sit",
          "query_text": "find the seat region used for sitting",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.95,
          "evidence": {
            "matched_text": "partnetmobility:179 chair 179 179",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "support",
          "query_text": "find the region used to support a seated person",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.9,
          "evidence": {
            "matched_text": "partnetmobility:179 chair 179 179",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "move",
          "query_text": "find the region used to grasp and move this seat",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.65,
          "evidence": {
            "matched_text": "partnetmobility:179 chair 179 179",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:2145",
      "dataset": "PartNetMobility",
      "category": "CoffeeMachine",
      "synset": "",
      "source_asset_id": "2145",
      "name": "2145",
      "description": "PartNetMobility articulated CoffeeMachine asset 2145",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "press",
          "query_text": "find the button or control region used to press this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.89,
          "evidence": {
            "matched_text": "partnetmobility:2145 coffeemachine 2145 2145",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "toggle",
          "query_text": "find the control region used to toggle this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.8,
          "evidence": {
            "matched_text": "partnetmobility:2145 coffeemachine 2145 2145",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp or move this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.66,
          "evidence": {
            "matched_text": "partnetmobility:2145 coffeemachine 2145 2145",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:11622",
      "dataset": "PartNetMobility",
      "category": "Dishwasher",
      "synset": "",
      "source_asset_id": "11622",
      "name": "11622",
      "description": "PartNetMobility articulated Dishwasher asset 11622",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:11622 dishwasher 11622 11622",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:11700",
      "dataset": "PartNetMobility",
      "category": "Dishwasher",
      "synset": "",
      "source_asset_id": "11700",
      "name": "11700",
      "description": "PartNet-Mobility articulated Dishwasher asset 11700",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:11700 dishwasher 11700 11700",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:11700 dishwasher 11700 11700",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:11700 dishwasher 11700 11700",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:11700 dishwasher 11700 11700",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:11700 dishwasher 11700 11700",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:11826",
      "dataset": "PartNetMobility",
      "category": "Dishwasher",
      "synset": "",
      "source_asset_id": "11826",
      "name": "11826",
      "description": "PartNet-Mobility articulated Dishwasher asset 11826",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:11826 dishwasher 11826 11826",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:11826 dishwasher 11826 11826",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:11826 dishwasher 11826 11826",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:11826 dishwasher 11826 11826",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:11826 dishwasher 11826 11826",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:11887",
      "dataset": "PartNetMobility",
      "category": "Dishwasher",
      "synset": "",
      "source_asset_id": "11887",
      "name": "11887",
      "description": "PartNet-Mobility articulated Dishwasher asset 11887",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:11887 dishwasher 11887 11887",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:11887 dishwasher 11887 11887",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:11887 dishwasher 11887 11887",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:11887 dishwasher 11887 11887",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:11887 dishwasher 11887 11887",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:12065",
      "dataset": "PartNetMobility",
      "category": "Dishwasher",
      "synset": "",
      "source_asset_id": "12065",
      "name": "12065",
      "description": "PartNet-Mobility articulated Dishwasher asset 12065",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:12065 dishwasher 12065 12065",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:12065 dishwasher 12065 12065",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:12065 dishwasher 12065 12065",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:12065 dishwasher 12065 12065",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:12065 dishwasher 12065 12065",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:8867",
      "dataset": "PartNetMobility",
      "category": "Door",
      "synset": "",
      "source_asset_id": "8867",
      "name": "8867",
      "description": "PartNetMobility articulated Door asset 8867",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the region used to open this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.94,
          "evidence": {
            "matched_text": "partnetmobility:8867 door 8867 8867",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the region used to close this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.9,
          "evidence": {
            "matched_text": "partnetmobility:8867 door 8867 8867",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or edge region used to pull this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "partnetmobility:8867 door 8867 8867",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the surface region used to push this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "partnetmobility:8867 door 8867 8867",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:1011",
      "dataset": "PartNetMobility",
      "category": "Faucet",
      "synset": "",
      "source_asset_id": "1011",
      "name": "1011",
      "description": "PartNetMobility articulated Faucet asset 1011",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "turn",
          "query_text": "find the knob or handle region used to turn the water on or off",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(faucet|tap|showerhead|knob|valve)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "partnetmobility:1011 faucet 1011 1011",
            "matched_pattern": "\\b(faucet|tap|showerhead|knob|valve)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the handle region used to grasp this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(faucet|tap|showerhead|knob|valve)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:1011 faucet 1011 1011",
            "matched_pattern": "\\b(faucet|tap|showerhead|knob|valve)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "press",
          "query_text": "find the control region used to press or activate this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(faucet|tap|showerhead|knob|valve)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:1011 faucet 1011 1011",
            "matched_pattern": "\\b(faucet|tap|showerhead|knob|valve)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:2255",
      "dataset": "PartNetMobility",
      "category": "FoldingChair",
      "synset": "",
      "source_asset_id": "2255",
      "name": "2255",
      "description": "PartNetMobility articulated FoldingChair asset 2255",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "sit",
          "query_text": "find the seat region used for sitting",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.95,
          "evidence": {
            "matched_text": "partnetmobility:2255 foldingchair 2255 2255",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "support",
          "query_text": "find the region used to support a seated person",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.9,
          "evidence": {
            "matched_text": "partnetmobility:2255 foldingchair 2255 2255",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "move",
          "query_text": "find the region used to grasp and move this seat",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
          "confidence": 0.65,
          "evidence": {
            "matched_text": "partnetmobility:2255 foldingchair 2255 2255",
            "matched_pattern": "\\b(chair|armchair|bench|sofa|stool|foldingchair)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:1305",
      "dataset": "PartNetMobility",
      "category": "Kettle",
      "synset": "",
      "source_asset_id": "1305",
      "name": "1305",
      "description": "PartNetMobility articulated Kettle asset 1305",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "contain",
          "query_text": "find the region used to contain objects or liquid",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "partnetmobility:1305 kettle 1305 1305",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp this object by hand",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "partnetmobility:1305 kettle 1305 1305",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pour",
          "query_text": "find the opening or spout region used to pour",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.76,
          "evidence": {
            "matched_text": "partnetmobility:1305 kettle 1305 1305",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:15",
      "dataset": "PartNetMobility",
      "category": "KitchenPot",
      "synset": "",
      "source_asset_id": "15",
      "name": "15",
      "description": "PartNetMobility articulated KitchenPot asset 15",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "contain",
          "query_text": "find the region used to contain objects or liquid",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "partnetmobility:15 kitchenpot 15 15",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp this object by hand",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "partnetmobility:15 kitchenpot 15 15",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pour",
          "query_text": "find the opening or spout region used to pour",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.76,
          "evidence": {
            "matched_text": "partnetmobility:15 kitchenpot 15 15",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:13310",
      "dataset": "PartNetMobility",
      "category": "Lamp",
      "synset": "",
      "source_asset_id": "13310",
      "name": "13310",
      "description": "PartNetMobility articulated Lamp asset 13310",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "toggle",
          "query_text": "find the switch or control region used to toggle the light",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(lamp|light)\\b",
          "confidence": 0.78,
          "evidence": {
            "matched_text": "partnetmobility:13310 lamp 13310 13310",
            "matched_pattern": "\\b(lamp|light)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "press",
          "query_text": "find the control region used to press this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(lamp|light)\\b",
          "confidence": 0.7,
          "evidence": {
            "matched_text": "partnetmobility:13310 lamp 13310 13310",
            "matched_pattern": "\\b(lamp|light)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:7119",
      "dataset": "PartNetMobility",
      "category": "Microwave",
      "synset": "",
      "source_asset_id": "7119",
      "name": "7119",
      "description": "PartNetMobility articulated Microwave asset 7119",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:7119 microwave 7119 7119",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:1773",
      "dataset": "PartNetMobility",
      "category": "Oven",
      "synset": "",
      "source_asset_id": "1773",
      "name": "1773",
      "description": "PartNetMobility articulated Oven asset 1773",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:1773 oven 1773 1773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:1773 oven 1773 1773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:1773 oven 1773 1773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:1773 oven 1773 1773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:1773 oven 1773 1773",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:10036",
      "dataset": "PartNetMobility",
      "category": "Refrigerator",
      "synset": "",
      "source_asset_id": "10036",
      "name": "10036",
      "description": "PartNetMobility articulated Refrigerator asset 10036",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:10036 refrigerator 10036 10036",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:10036 refrigerator 10036 10036",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:10036 refrigerator 10036 10036",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:10036 refrigerator 10036 10036",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:10036 refrigerator 10036 10036",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:35059",
      "dataset": "PartNetMobility",
      "category": "StorageFurniture",
      "synset": "",
      "source_asset_id": "35059",
      "name": "35059",
      "description": "PartNetMobility articulated StorageFurniture asset 35059",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the handle or door region used to open this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "partnetmobility:35059 storagefurniture 35059 35059",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the region used to store or contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:35059 storagefurniture 35059 35059",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or drawer region used to close this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.87,
          "evidence": {
            "matched_text": "partnetmobility:35059 storagefurniture 35059 35059",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or drawer front used to pull it open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:35059 storagefurniture 35059 35059",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:19179",
      "dataset": "PartNetMobility",
      "category": "Table",
      "synset": "",
      "source_asset_id": "19179",
      "name": "19179",
      "description": "PartNetMobility articulated Table asset 19179",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "support",
          "query_text": "find the top surface used to support objects",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
          "confidence": 0.95,
          "evidence": {
            "matched_text": "partnetmobility:19179 table 19179 19179",
            "matched_pattern": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "place_on",
          "query_text": "find the surface where other objects can be placed",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:19179 table 19179 19179",
            "matched_pattern": "\\b(table|desk|counter|shelf|kitchen_island|tv_stand)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:3465",
      "dataset": "PartNetMobility",
      "category": "Toaster",
      "synset": "",
      "source_asset_id": "3465",
      "name": "3465",
      "description": "PartNetMobility articulated Toaster asset 3465",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "press",
          "query_text": "find the button or control region used to press this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.89,
          "evidence": {
            "matched_text": "partnetmobility:3465 toaster 3465 3465",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "toggle",
          "query_text": "find the control region used to toggle this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.8,
          "evidence": {
            "matched_text": "partnetmobility:3465 toaster 3465 3465",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp or move this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
          "confidence": 0.66,
          "evidence": {
            "matched_text": "partnetmobility:3465 toaster 3465 3465",
            "matched_pattern": "\\b(coffeemachine|coffee_maker|toaster|switch|button)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:1319",
      "dataset": "PartNetMobility",
      "category": "Toilet",
      "synset": "",
      "source_asset_id": "1319",
      "name": "1319",
      "description": "PartNetMobility articulated Toilet asset 1319",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "sit",
          "query_text": "find the seat region used for sitting",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(toilet|commode)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "partnetmobility:1319 toilet 1319 1319",
            "matched_pattern": "\\b(toilet|commode)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "support",
          "query_text": "find the region used to support a seated person",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(toilet|commode)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:1319 toilet 1319 1319",
            "matched_pattern": "\\b(toilet|commode)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the bowl region used to contain liquid or waste",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(toilet|commode)\\b",
          "confidence": 0.78,
          "evidence": {
            "matched_text": "partnetmobility:1319 toilet 1319 1319",
            "matched_pattern": "\\b(toilet|commode)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "press",
          "query_text": "find the flush control region used to press or activate the toilet",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(toilet|commode)\\b",
          "confidence": 0.66,
          "evidence": {
            "matched_text": "partnetmobility:1319 toilet 1319 1319",
            "matched_pattern": "\\b(toilet|commode)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:10357",
      "dataset": "PartNetMobility",
      "category": "TrashCan",
      "synset": "",
      "source_asset_id": "10357",
      "name": "10357",
      "description": "PartNetMobility articulated TrashCan asset 10357",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "contain",
          "query_text": "find the region used to contain objects or liquid",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "partnetmobility:10357 trashcan 10357 10357",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "grasp",
          "query_text": "find the region used to grasp this object by hand",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "partnetmobility:10357 trashcan 10357 10357",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pour",
          "query_text": "find the opening or spout region used to pour",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
          "confidence": 0.76,
          "evidence": {
            "matched_text": "partnetmobility:10357 trashcan 10357 10357",
            "matched_pattern": "\\b(bowl|cup|mug|bottle|kettle|pot|kitchenpot|trash|trashcan|basket|hamper)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:282",
      "dataset": "PartNetMobility",
      "category": "WashingMachine",
      "synset": "",
      "source_asset_id": "282",
      "name": "282",
      "description": "PartNetMobility articulated WashingMachine asset 282",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "partnetmobility:282 washingmachine 282 282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "partnetmobility:282 washingmachine 282 282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "partnetmobility:282 washingmachine 282 282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "partnetmobility:282 washingmachine 282 282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "partnetmobility:282 washingmachine 282 282",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "PartNetMobility:2798",
      "dataset": "PartNetMobility",
      "category": "Window",
      "synset": "",
      "source_asset_id": "2798",
      "name": "2798",
      "description": "PartNetMobility articulated Window asset 2798",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the region used to open this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.94,
          "evidence": {
            "matched_text": "partnetmobility:2798 window 2798 2798",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the region used to close this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.9,
          "evidence": {
            "matched_text": "partnetmobility:2798 window 2798 2798",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or edge region used to pull this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "partnetmobility:2798 window 2798 2798",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the surface region used to push this object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(door|window)\\b",
          "confidence": 0.84,
          "evidence": {
            "matched_text": "partnetmobility:2798 window 2798 2798",
            "matched_pattern": "\\b(door|window)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "SceneSmith_ArtVIP:model_fridge_1",
      "dataset": "SceneSmith_ArtVIP",
      "category": "major_appliances",
      "synset": "",
      "source_asset_id": "model_fridge_1",
      "name": "model_fridge_1",
      "description": "A two–door upright kitchen refrigerator with interior drawers and shelves.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "scenesmith artvip:model fridge 1 major appliances model fridge 1 model fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "scenesmith artvip:model fridge 1 major appliances model fridge 1 model fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "scenesmith artvip:model fridge 1 major appliances model fridge 1 model fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "scenesmith artvip:model fridge 1 major appliances model fridge 1 model fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "scenesmith artvip:model fridge 1 major appliances model fridge 1 model fridge 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "SceneSmith_ArtVIP:model_microwave_1",
      "dataset": "SceneSmith_ArtVIP",
      "category": "small_appliances",
      "synset": "",
      "source_asset_id": "model_microwave_1",
      "name": "model_microwave_1",
      "description": "A countertop microwave oven with a front glass door and side control panel.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the door or handle region used to open this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.93,
          "evidence": {
            "matched_text": "scenesmith artvip:model microwave 1 small appliances model microwave 1 model microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or panel region used to close this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "scenesmith artvip:model microwave 1 small appliances model microwave 1 model microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the interior region used to contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.86,
          "evidence": {
            "matched_text": "scenesmith artvip:model microwave 1 small appliances model microwave 1 model microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle region used to pull this appliance open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "scenesmith artvip:model microwave 1 small appliances model microwave 1 model microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "push",
          "query_text": "find the button or front surface used to push this appliance",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
          "confidence": 0.72,
          "evidence": {
            "matched_text": "scenesmith artvip:model microwave 1 small appliances model microwave 1 model microwave 1",
            "matched_pattern": "\\b(dishwasher|microwave|refrigerator|fridge|oven|washingmachine|washer|dryer)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    },
    {
      "asset_id": "SceneSmith_ArtVIP:cabinet_1",
      "dataset": "SceneSmith_ArtVIP",
      "category": "small_furniture",
      "synset": "",
      "source_asset_id": "cabinet_1",
      "name": "cabinet_1",
      "description": "A small wall or floor-mounted vanity cabinet with a marble top and two pull-out drawers.",
      "decision": "rule",
      "llm_info": null,
      "proposals": [
        {
          "canonical_label": "open",
          "query_text": "find the handle or door region used to open this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.92,
          "evidence": {
            "matched_text": "scenesmith artvip:cabinet 1 small furniture cabinet 1 cabinet 1",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "contain",
          "query_text": "find the region used to store or contain items",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.88,
          "evidence": {
            "matched_text": "scenesmith artvip:cabinet 1 small furniture cabinet 1 cabinet 1",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "close",
          "query_text": "find the door or drawer region used to close this storage object",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.87,
          "evidence": {
            "matched_text": "scenesmith artvip:cabinet 1 small furniture cabinet 1 cabinet 1",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        },
        {
          "canonical_label": "pull",
          "query_text": "find the handle or drawer front used to pull it open",
          "source": "behavior_taxonomy_rule",
          "raw_source_label": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
          "confidence": 0.82,
          "evidence": {
            "matched_text": "scenesmith artvip:cabinet 1 small furniture cabinet 1 cabinet 1",
            "matched_pattern": "\\b(cabinet|storagefurniture|wardrobe|drawer|chest_of_drawers|bookcase|armoire)\\b",
            "basis": "BEHAVIOR/OmniGibson-style category-or-synset to ability/action mapping"
          }
        }
      ]
    }
  ]
}