{
  "names": [
    "apple",
    "orange",
    "lemon",
    "tomato",
    "potato",
    "soap",
    "sponge",
    "tea_box",
    "can",
    "bottle",
    "cup",
    "spool",
    "wood_block",
    "eraser",
    "battery"
  ],
  "source": "Isaac Sim semantic segmentation",
  "validation": "held-out random poses/camera jitter in the same procedural scene; not real-world generalization"
}