|[Labeling](com.unity.perception/Documentation~/GroundTruthLabeling.md)|A component that marks a GameObject and its descendants with a set of labels|
|[LabelConfig](com.unity.perception/Documentation~/GroundTruthLabeling.md#label-config)|An asset that defines a taxonomy of labels for ground truth generation|
|[LabelConfig](com.unity.perception/Documentation~/GroundTruthLabeling.md#label-config)|An asset that defines a taxonomy of labels for ground truth generation|
|[DatasetCapture](com.unity.perception/Documentation~/DatasetCapture.md)|Ensures sensors are triggered at proper rates and accepts data for the JSON dataset.|
|[DatasetCapture](com.unity.perception/Documentation~/DatasetCapture.md)|Ensures sensors are triggered at proper rates and accepts data for the JSON dataset.|
|[Randomization (Experimental)](com.unity.perception/Documentation~/Randomization/Index.md)|The Randomization tool set lets you integrate domain randomization principles into your simulation.|