AIRO-420 Adding integration tests to PickAndPlaceProject

.gitignore

 .DS_Store
-.swp
+*.swp
+
+# Generated by local utr runs
+.Editor
+.download
+.bin
+test-results
+
 tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json

.yamato/yamato-config.yml

 name: Robotics Hub Tests
 agent:
-    type: Unity::VM
-    image: robotics/ci-ubuntu20:latest
-    flavor: i1.large
+  type: Unity::VM
+  image: robotics/ci-ubuntu20:v0.1.0pnp-796097
+  flavor: i1.large
-    PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin
+  PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin
-    - git submodule update --init --recursive
-      # TODO: Fix this hack - our bokken image is missing a .NET dependency (System.CodeDom) without which causes compilation to fail
-    - rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
-      # This is another hack to ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
-    - "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
-    - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
-    - unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
-    - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
-    - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories MessageGeneration
-    - mkdir -p ./tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts && cp ./tutorials/pick_and_place/Scripts/*.cs ./tutorials/pick_and_place/PickAndPlaceProject/Assets
-    - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories BuildTests
+  - git submodule update --init --recursive
+  # We must remove the Demo.cs script because the System.CodeDom assembly is not in the bokken .NET sdk
+  - rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
+  # Ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
+  - "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
+  - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
+  - unity-downloader-cli -u 2020.3.11f1 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
+  - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
+  # Explicitly run MessageGeneration tests first to generate dependencies
+  - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
+    --artifacts_path=test-results --suite=editor --platform=Editor --editorTestsCategories
+    MessageGeneration
+  # Run each category of tests in its own process, in order of increasing complexity
+  - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
+    --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestCategories UnitTests
+    #  - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
+    #--artifacts_path=test-results --suite=editor --platform=Editor --testfilter BuildTests.PlayerBuilder.BuildPlayerLinux
+  - python3 .yamato/PickAndPlaceTests/set-up-integration-tests.py
+  #TODO: Determine how best to capture ROS logging as test artifacts
+  - /bin/bash .yamato/PickAndPlaceTests/start-ros.bash
+  # NOTE: Simply specifying the testCategory is not enough to get a test marked with [Explicit] to run
+  - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
+    --artifacts_path=test-results --suite=editor --platform=Editor --testfilter IntegrationTests.RosIntegrationTests
+  #TODO: Determine when it would be prudent to run BuildTests and add them here or in a new config
-    cancel_old_ci: true
-    expression: |
-        (pull_request.target eq "main"  AND
-        NOT pull_request.push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"]) OR
-        (push.branch eq "dev" AND
-        NOT push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
+  cancel_old_ci: true
+  expression: |
+    (pull_request.target in ["main", "dev"] AND
+    NOT pull_request.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
-    logs:
-        paths:
-            - "test-results/**/*"
+  logs:
+    paths:
+      - "test-results/**/*"

tutorials/pick_and_place/PickAndPlaceProject/.gitignore

 /[Aa]ssets/[Rr]os[Mm]essages/
 /[Aa]ssets/[Rr]os[Mm]essages.meta
 
+
+# Ignore scripts that are expected to get copied in at some point
+/**/SourceDestinationPublisher.*
+/**/TrajectoryPlanner.*
+
+
 # MemoryCaptures can get excessive in size.
 # They also could contain extremely sensitive data
 /[Mm]emoryCaptures/

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs

         CreateRosConnection();
         CreateTrajectoryPlannerPublisher();
     }
-
+    
     void Update()
     {
         // Make sure to publish only once in the demo

tutorials/pick_and_place/PickAndPlaceProject/Assets/Prefabs/TargetPlacement.prefab

   - component: {fileID: 850690186460591411}
   - component: {fileID: 850690186460591410}
   - component: {fileID: 850690186460591413}
+  - component: {fileID: 4980278694990496136}
+  - component: {fileID: 7978903071639371792}
   m_Layer: 0
   m_Name: TargetPlacement
   m_TagString: Untagged
   m_SortingLayer: 0
   m_SortingOrder: 0
   m_AdditionalVertexStreams: {fileID: 0}
+--- !u!65 &4980278694990496136
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 850690186460591414}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 1
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1.2, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!114 &7978903071639371792
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 850690186460591414}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: f7ac960dc884b4042a0de8920854c9e5, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Target: {fileID: 0}
+  m_ColorAlpha: 100

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/EditMode.asmdef

     "name": "EditMode",
     "rootNamespace": "",
     "references": [
-        "UnityEngine.TestRunner",
-        "UnityEditor.TestRunner",
-        "Unity.Robotics.ROSTCPConnector.Editor",
-        "Unity.Robotics.ROSTCPConnector"
+        "GUID:27619889b8ba8c24980f49ee34dbb44a",
+        "GUID:0acc523941302664db1f4e527237feb3",
+        "GUID:1da8e23352f14494396eac5033ba9894",
+        "GUID:625bfc588fb96c74696858f2c467e978",
+        "GUID:204b12c73a0ba074c888ec09a2713605",
+        "GUID:465c1207fffb96245a352265e7622205",
+        "GUID:b1ef917f7a8a86a4eb639ec2352edbf8",
+        "GUID:79169c04a5f9b014e919b69ac8df4286"
     ],
     "includePlatforms": [
         "Editor"

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/PickAndPlaceMessageGenerationtests.cs

 using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 using Unity.Robotics.ROSTCPConnector.Editor.MessageGeneration;
 using UnityEditor;
+using UnityEngine;
-[TestFixture]
-[Category("MessageGeneration")]
-public class PickAndPlaceMessageGenerationTests
+namespace MessageGenerationTests
-    // Relative path to the directory containing the catkin packages
-    static readonly string k_ROSDirectory = Path.GetFullPath(Path.Combine("..", "ROS", "src"));
-    static string m_MessageGenOutputPath => MessageGenBrowserSettings.Get().outputPath;
+    // This gets a special category to enable running independently when needed to generate message definitions
+    [TestFixture, Category("MessageGeneration")]
+    public class MessageGenerationTests
+    {
+        enum PathType
+        {
+            File,
+            Directory
+        }
+
+        // Relative path to the directory containing the catkin packages
+        static readonly string k_ROSDirectory = Path.GetFullPath(Path.Combine("..", "ROS", "src"));
+        static string m_MessageGenOutputPath => MessageGenBrowserSettings.Get().outputPath;
+
+        static void WarnIfAlreadyExists(string path, PathType pathType)
+        {
+            var alreadyExists = pathType == PathType.File ? File.Exists(path) : Directory.Exists(path);
+            if (alreadyExists)
+            {
+                Debug.LogWarning($"{path} already exists. Test can't validate files were generated correctly unless " +
+                    "this path is manually deleted first.");
+            }
+        }
+
+        static void AssertExists(string path, PathType pathType)
+        {
+            Assert.IsTrue(pathType == PathType.File ? File.Exists(path) : Directory.Exists(path));
+        }
-    // Define more individual messages to run generation on within this test case enumerable
-    static IEnumerable<TestCaseData> IndividualMessages()
-    {
-        yield return new TestCaseData(Path.Combine(k_ROSDirectory, "moveit_msgs", "msg", "RobotTrajectory.msg"));
-    }
+        // Define more individual messages to run generation on within this test case enumerable
+        static IEnumerable<TestCaseData> IndividualMessages()
+        {
+            yield return new TestCaseData(Path.Combine(k_ROSDirectory, "moveit_msgs", "msg", "RobotTrajectory.msg"));
+        }
-    // Define directories of message files to be generated here
-    static IEnumerable<TestCaseData> MessageDirectories()
-    {
-        yield return new TestCaseData(Path.Combine(k_ROSDirectory, "niryo_moveit", "msg"));
-    }
+        // Define directories of message files to be generated here
+        static IEnumerable<TestCaseData> MessageDirectories()
+        {
+            yield return new TestCaseData(Path.Combine(k_ROSDirectory, "niryo_moveit", "msg"));
+        }
-    // Define directories of service files to be generated here
-    static IEnumerable<TestCaseData> ServiceDirectories()
-    {
-        yield return new TestCaseData(Path.Combine(k_ROSDirectory, "niryo_moveit", "srv"));
-    }
+        // Define directories of service files to be generated here
+        static IEnumerable<TestCaseData> ServiceDirectories()
+        {
+            yield return new TestCaseData(Path.Combine(k_ROSDirectory, "niryo_moveit", "srv"));
+        }
-    [Test]
-    [TestCaseSource(nameof(IndividualMessages))]
-    public void TestMessageBuildSingle_ThrowsNoExceptions(string messageToBuild)
-    {
-        MessageAutoGen.GenerateSingleMessage(messageToBuild, m_MessageGenOutputPath);
-        AssetDatabase.Refresh();
-    }
+        [Test]
+        [TestCaseSource(nameof(IndividualMessages))]
+        public void TestMessageBuildSingle_ThrowsNoExceptions(string messageToBuild)
+        {
+            var msgPath = MessageAutoGen.GetMessageClassPath(messageToBuild, m_MessageGenOutputPath);
+            Debug.Log($"Generating code for {messageToBuild}, output should be at {msgPath}");
+            WarnIfAlreadyExists(msgPath, PathType.File);
+            MessageAutoGen.GenerateSingleMessage(messageToBuild, m_MessageGenOutputPath);
+            AssetDatabase.Refresh();
+            AssertExists(msgPath, PathType.File);
+        }
-    [Test]
-    [TestCaseSource(nameof(MessageDirectories))]
-    public void TestMessageBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
-    {
-        MessageAutoGen.GenerateDirectoryMessages(directoryToBuild, m_MessageGenOutputPath);
-        AssetDatabase.Refresh();
-    }
+        [Test]
+        [TestCaseSource(nameof(MessageDirectories))]
+        public void TestMessageBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
+        {
+            var msgPath = MessageAutoGen.GetMessageClassPath(directoryToBuild, m_MessageGenOutputPath);
+            var msgDirectory = Path.GetDirectoryName(msgPath);
+            Debug.Log($"Generating code in {directoryToBuild}, output should be in {msgDirectory}");
+            WarnIfAlreadyExists(msgDirectory, PathType.Directory);
+            MessageAutoGen.GenerateDirectoryMessages(directoryToBuild, m_MessageGenOutputPath);
+            AssetDatabase.Refresh();
+            AssertExists(msgDirectory, PathType.Directory);
+        }
-    [Test]
-    [TestCaseSource(nameof(ServiceDirectories))]
-    public void TestServiceBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
-    {
-        ServiceAutoGen.GenerateDirectoryServices(directoryToBuild, m_MessageGenOutputPath);
-        AssetDatabase.Refresh();
+        [Test]
+        [TestCaseSource(nameof(ServiceDirectories))]
+        public void TestServiceBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
+        {
+            var msgPath = ServiceAutoGen.GetServiceClassPaths(directoryToBuild, m_MessageGenOutputPath);
+            var msgDirectory = Path.GetDirectoryName(msgPath[0]);
+            Debug.Log($"Generating code in {directoryToBuild}, output should be in {msgDirectory}");
+            WarnIfAlreadyExists(msgDirectory, PathType.Directory);
+            ServiceAutoGen.GenerateDirectoryServices(directoryToBuild, m_MessageGenOutputPath);
+            AssetDatabase.Refresh();
+            AssertExists(msgDirectory, PathType.Directory);
+        }
     }
 }

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/PlayerBuildTests.cs

 
 namespace BuildTests
 {
-    [TestFixture]
-    [Category("BuildTests")]
+    [TestFixture, Explicit, Category("BuildTests")]
     public class PlayerBuilder
     {
         List<EditorBuildSettingsScene> m_EditorBuildSettingsScenes = new List<EditorBuildSettingsScene>();

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/PlayMode.asmdef

 {
     "name": "PlayMode",
-    "optionalUnityReferences": [
-        "TestAssemblies"
-    ]
-}
+    "rootNamespace": "",
+    "references": [
+        "UnityEngine.TestRunner",
+        "UnityEditor.TestRunner",
+        "Unity.Robotics.URDFImporter",
+        "Unity.Robotics.ROSTCPConnector",
+        "Unity.Robotics.RosMessages",
+        "Unity.Robotics.PickAndPlace"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": true,
+    "precompiledReferences": [
+        "nunit.framework.dll"
+    ],
+    "autoReferenced": false,
+    "defineConstraints": [
+        "UNITY_INCLUDE_TESTS"
+    ],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one/niryo_one_urdf/meshes/collada/arm_link.dae.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one/niryo_one_urdf/meshes/collada/forearm_link.dae.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one/niryo_one_urdf/meshes/collada/hand_link.dae.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one/niryo_one_urdf/meshes/collada/shoulder_link.dae.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one/niryo_one_urdf/meshes/collada/wrist_link.dae.meta

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tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json

 {
   "dependencies": {
-    "com.unity.collab-proxy": "1.3.9",
+    "com.unity.collab-proxy": "1.5.7",
-    "com.unity.ide.visualstudio": "2.0.3",
-    "com.unity.ide.vscode": "1.2.2",
+    "com.unity.ide.visualstudio": "2.0.8",
+    "com.unity.ide.vscode": "1.2.3",
-    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.4.0",
-    "com.unity.test-framework": "1.1.18",
-    "com.unity.textmeshpro": "3.0.1",
-    "com.unity.timeline": "1.4.3",
+    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#stl-package-import-fix",
+    "com.unity.test-framework": "1.1.24",
+    "com.unity.textmeshpro": "3.0.6",
+    "com.unity.timeline": "1.4.8",
     "com.unity.ugui": "1.0.0",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.androidjni": "1.0.0",

tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/EditorBuildSettings.asset

 EditorBuildSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 2
-  m_Scenes: []
+  m_Scenes:
+  - enabled: 0
+    path: Assets/Tests/PlayMode/PlayModeTestScenes/TargetPlacementTest.unity
+    guid: 3d328f38f71b71e47bb8d96869012ffe
+  - enabled: 1
+    path: Assets/Tests/PlayMode/PlayModeTestScenes/TargetPlacementTest.unity
+    guid: 3d328f38f71b71e47bb8d96869012ffe
   m_configObjects: {}

tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/EditorSettings.asset

 EditorSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 11
-  m_ExternalVersionControlSupport: Visible Meta Files
-  m_LineEndingsForNewScripts: 0
+  m_LineEndingsForNewScripts: 1
   m_DefaultBehaviorMode: 0
   m_PrefabRegularEnvironment: {fileID: 0}
   m_PrefabUIEnvironment: {fileID: 0}
   m_EtcTextureBestCompressor: 4
   m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd;asmdef;rsp;asmref
   m_ProjectGenerationRootNamespace: 
-  m_CollabEditorSettings:
-    inProgressEnabled: 1
+  m_CachingShaderPreprocessor: 1
+  m_PrefabModeAllowAutoSave: 1
-  m_ShowLightmapResolutionOverlay: 1
+  m_GameObjectNamingDigits: 1
+  m_GameObjectNamingScheme: 0
+  m_AssetNamingUsesSpace: 1
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+  m_SerializeInlineMappingsOnOneLine: 1
+  m_DisableCookiesInLightmapper: 0
+  m_AssetPipelineMode: 1
+  m_CacheServerMode: 0
+  m_CacheServerEndpoint: 
+  m_CacheServerNamespacePrefix: default
+  m_CacheServerEnableDownload: 1
+  m_CacheServerEnableUpload: 1
+  m_CacheServerEnableAuth: 0
+  m_CacheServerEnableTls: 0

tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/ProjectSettings.asset

   targetDevice: 2
   useOnDemandResources: 0
   accelerometerFrequency: 60
-  companyName: DefaultCompany
-  productName: PickAndPlaceProject
+  companyName: UnityRobotics
+  productName: PickAndPlace
   defaultCursor: {fileID: 0}
   cursorHotspot: {x: 0, y: 0}
   m_SplashScreenBackgroundColor: {r: 0.13725491, g: 0.12156863, b: 0.1254902, a: 1}
   androidSupportedAspectRatio: 1
   androidMaxAspectRatio: 2.1
   applicationIdentifier:
-    Standalone: com.DefaultCompany.PickAndPlaceProject
+    Standalone: com.UnityRobotics.PickAndPlace
   buildNumber:
     Standalone: 0
     iPhone: 0
   webGLLinkerTarget: 1
   webGLThreadsSupport: 0
   webGLDecompressionFallback: 0
-  scriptingDefineSymbols: {}
-  additionalCompilerArguments: {}
+  scriptingDefineSymbols:
+    1: 
+  additionalCompilerArguments:
+    1: []
   platformArchitecture: {}
   scriptingBackend: {}
   il2cppCompilerConfiguration: {}

tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2020.2.0b9
-m_EditorVersionWithRevision: 2020.2.0b9 (ef2968fa77ae)
+m_EditorVersion: 2020.3.11f1
+m_EditorVersionWithRevision: 2020.3.11f1 (99c7afb366b3)

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/IntegrationTest.cs

+using System;
+using System.Collections;
+using System.IO;
+using NUnit.Framework;
+using RosSharp;
+using RosSharp.Control;
+using RosSharp.Urdf;
+using Unity.Robotics.PickAndPlace;
+using UnityEngine;
+using Unity.Robotics.ROSTCPConnector;
+using UnityEditor;
+using UnityEditor.SceneManagement;
+using UnityEngine.TestTools;
+
+namespace IntegrationTests
+{
+    [TestFixture, Explicit, Category("IntegrationTests")]
+    // IMPORTANT: In order for this category of tests to run correctly, MessageGeneration must be run first and the
+    //            INTEGRATION_TEST script define must be set
+    public class RosIntegrationTests
+    {
+        #region Parameters
+
+        // Testing parameters
+        const float k_TestTimeoutSeconds = 20f;
+
+        const string k_NamePackageNiryoMoveIt = "niryo_moveit";
+        const string k_NameNiryoOne = "niryo_one";
+        const string k_NameBaseLink = "base_link";
+
+        // Prefabs that get instantiated into scene
+        const string k_NameTable = "Table";
+        const string k_NameTarget = "Target";
+        const string k_NameTargetPlacement = "TargetPlacement";
+
+        // GameObjects that hold important components
+        const string k_NameCamera = "Main Camera";
+        const string k_NameRosConnect = "ROSConnect";
+        const string k_NamePublisher = "Publisher";
+
+        // Parameters for robot joint controller
+        const float k_ControllerStiffness = 10000f;
+        const float k_ControllerDamping = 100f;
+        const float k_ControllerForceLimit = 1000f;
+        const float k_ControllerSpeed = 30f;
+        const float k_ControllerAcceleration = 10f;
+
+        // Parameters for ROS connection
+        const string k_IpAddressLoopback = "127.0.0.1";
+        const int k_HostPort = 10000;
+        const int k_UnityPort = 5005;
+        const int k_NumAwaitDataRetries = 10;
+        const int k_NumAwaitDataSleepSeconds = 1;
+
+        const string k_PrefabSuffix = ".prefab";
+        readonly string k_DirectoryPrefabs = Path.Combine("Assets", "Prefabs");
+        readonly string k_PathUrdf = Path.Combine("URDF", "niryo_one", "niryo_one.urdf");
+        readonly string k_PathTestScene = Path.Combine("Assets", "Scenes", "EmptyScene.unity");
+
+        readonly Vector3 k_CameraPosition = new Vector3(0, 1.4f, -0.7f);
+        readonly Quaternion k_CameraRotation = Quaternion.Euler(new Vector3(45, 0, 0));
+
+        readonly ImportSettings k_UrdfImportSettings = new ImportSettings
+        {
+            choosenAxis = ImportSettings.axisType.yAxis,
+            convexMethod = ImportSettings.convexDecomposer.unity
+        };
+        #endregion
+
+        float m_TimeElapsedSeconds;
+        [SerializeField, HideInInspector]
+        ROSConnection m_RosConnection;
+        [SerializeField, HideInInspector]
+        TargetPlacement m_TargetPlacement;
+
+        // NOTE: This check could be made more robust by checking the gripper state of the arm to confirm it has
+        //       released the Target
+        bool DidPlacementSucceed => m_TargetPlacement.CurrentState == TargetPlacement.PlacementState.InsidePlaced;
+
+
+        [UnityTest]
+        public IEnumerator TrajectoryPublisher_PickAndPlaceDemo_CompletesTask()
+        {
+#if INTEGRATION_TEST
+            SetUpScene();
+            // TODO: This test could be made a PlayMode test once ImportRobot can use the PlayMode URDF import
+            ImportRobot();
+            CreateRosConnection();
+            CreateTrajectoryPlannerPublisher();
+            yield return new EnterPlayMode();
+
+            m_TargetPlacement = GameObject.Find(k_NameTargetPlacement).GetComponent<TargetPlacement>();
+            Assert.IsNotNull(m_TargetPlacement, $"Unable to find {nameof(TargetPlacement)} attached to a " +
+                $"GameObject called {k_NameTargetPlacement} in scene.");
+
+            var publisher = GameObject.Find(k_NamePublisher).GetComponent<TrajectoryPlanner>();
+            publisher.PublishJoints();
+
+            while(!DidPlacementSucceed && m_TimeElapsedSeconds < k_TestTimeoutSeconds)
+            {
+                m_TimeElapsedSeconds += Time.deltaTime;
+                yield return null;
+            }
+            
+            Assert.IsTrue(DidPlacementSucceed, "Pick and Place did not complete before test timed out.");
+            
+            yield return new ExitPlayMode();
+        }
+
+        void SetUpScene()
+        {
+            EditorSceneManager.OpenScene(k_PathTestScene);
+            
+            InstantiatePrefabFromName(k_NameTable);
+            InstantiatePrefabFromName(k_NameTarget);
+            InstantiatePrefabFromName(k_NameTargetPlacement);
+
+            var camera = GameObject.Find(k_NameCamera);
+            camera.transform.position = k_CameraPosition;
+            camera.transform.rotation = k_CameraRotation;
+        }
+
+        void CreateTrajectoryPlannerPublisher()
+        {
+            var planner = new GameObject(k_NamePublisher).AddComponent<TrajectoryPlanner>();
+            planner.rosServiceName = k_NamePackageNiryoMoveIt;
+            planner.niryoOne = GameObject.Find(k_NameNiryoOne);
+            planner.target = GameObject.Find(k_NameTarget);
+            planner.targetPlacement = GameObject.Find(k_NameTargetPlacement);
+        }
+
+        GameObject InstantiatePrefabFromName(string name)
+        {
+            var filepath = Path.Combine(k_DirectoryPrefabs, $"{name}{k_PrefabSuffix}");
+            var gameObject = (GameObject) PrefabUtility.InstantiatePrefab(
+                AssetDatabase.LoadAssetAtPath<GameObject>(filepath));
+            gameObject.name = name;
+            return gameObject;
+        }
+
+        void CreateRosConnection()
+        {
+            m_RosConnection = new GameObject(k_NameRosConnect).AddComponent<ROSConnection>();
+            m_RosConnection.RosIPAddress = k_IpAddressLoopback;
+            m_RosConnection.RosPort = k_HostPort;
+            //m_RosConnection.overrideUnityIP = k_IpAddressLoopback;
+            //m_RosConnection.unityPort = k_UnityPort;
+            //m_RosConnection.awaitDataMaxRetries = k_NumAwaitDataRetries;
+            //m_RosConnection.awaitDataSleepSeconds = k_NumAwaitDataSleepSeconds;
+        }
+
+        void ImportRobot()
+        {
+            var urdfFullPath = Path.Combine(Application.dataPath, k_PathUrdf);
+            var robotImporter = UrdfRobotExtensions.Create(urdfFullPath, k_UrdfImportSettings, false);
+            // Create is a coroutine that would usually run only in EditMode, so we need to force its execution here
+            while (robotImporter.MoveNext())
+            {
+            }
+
+            // Ensure parameters are set to reasonable values
+            var controller = GameObject.Find(k_NameNiryoOne).GetComponent<Controller>();
+            controller.stiffness = k_ControllerStiffness;
+            controller.damping = k_ControllerDamping;
+            controller.forceLimit = k_ControllerForceLimit;
+            controller.speed = k_ControllerSpeed;
+            controller.acceleration = k_ControllerAcceleration;
+            GameObject.Find(k_NameBaseLink).GetComponent<ArticulationBody>().immovable = true;
+#else
+            throw new NotImplementedException(
+                "This integration test can only be executed with the INTEGRATION_TEST scripting define set. " +
+                "The dependencies of this test are not guaranteed to exist in the Project by default.");
+#endif
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/IntegrationTest.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/PlayModeTestScenes.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/TargetPlacementTests.cs

+using System.Collections;
+using System.Collections.Generic;
+using NUnit.Framework;
+using Unity.Robotics.PickAndPlace;
+using UnityEngine;
+using UnityEngine.SceneManagement;
+using UnityEngine.TestTools;
+
+[TestFixture, Category("UnitTests")]
+public class TargetPlacementTests
+{
+    const int k_NumAllowedFrames = 5;
+    const string k_NamePlaced = "TargetPlacementPlaced";
+    const string k_NameOutside = "TargetPlacementOutside";
+    const string k_NameFloating = "TargetPlacementFloating";
+
+    [UnitySetUp]
+    public IEnumerator LoadSceneAndStartPlayMode()
+    {
+        SceneManager.LoadScene("TargetPlacementTest");
+        yield return new EnterPlayMode();
+    }
+
+    [UnityTearDown]
+    public IEnumerator ExitSceneOnTearDown()
+    {
+        yield return new ExitPlayMode();
+    }
+
+    public static IEnumerable<TestCaseData> TargetPlacementCases()
+    {
+        yield return new TestCaseData(k_NamePlaced, TargetPlacement.PlacementState.InsidePlaced).Returns(null);
+        yield return new TestCaseData(k_NameOutside, TargetPlacement.PlacementState.Outside).Returns(null);
+        yield return new TestCaseData(k_NameFloating, TargetPlacement.PlacementState.InsideFloating).Returns(null);
+    }
+
+    [UnityTest, TestCaseSource(nameof(TargetPlacementCases))]
+    public IEnumerator TargetPlacement_WithStaticObjects_SetsStateCorrectly(
+        string name, TargetPlacement.PlacementState stateExpected)
+    {
+        var targetPlacement = GameObject.Find(name)?.GetComponent<TargetPlacement>();
+
+        Assert.IsNotNull(targetPlacement, $"Failed to find {name}");
+
+        var numFramesTested = 0;
+
+        while (targetPlacement.CurrentState != stateExpected && numFramesTested < k_NumAllowedFrames)
+        {
+            numFramesTested++;
+            yield return null;
+        }
+
+        Assert.AreEqual(targetPlacement.CurrentState, stateExpected);
+    }
+}

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.yamato/PickAndPlaceTests/set-up-integration-tests.py

+import os
+import shutil
+import glob
+from collections import OrderedDict
+from unityparser import UnityDocument
+
+# NOTE: This must match the flag defined in the Unity Integration Tests
+_INTEGRATION_TEST_DEFINE = "INTEGRATION_TEST"
+
+# This script is executed inside of a bokken image in order to automate the manual steps a user would
+# perform when going through the tutorials. This allows us to perform integration tests on the expected final
+# state of a tutorial project.
+
+
+script_dir = os.path.dirname(os.path.realpath(__file__))
+root_dir = os.path.join(script_dir, "..", "..", "tutorials", "pick_and_place")
+external_scripts_dir = os.path.join(root_dir, "Scripts")
+project_dir = os.path.join(root_dir, "PickAndPlaceProject")
+project_scripts_dir = os.path.join(project_dir, "Assets", "Scripts")
+# project_settings_file = os.path.join(project_dir, "ProjectSettings", "ProjectSettings.asset")
+
+scripts_to_move = glob.glob(os.path.join(external_scripts_dir, "*.cs"))
+for external_script in scripts_to_move:
+    script_name = os.path.basename(external_script)
+    script_destination = os.path.join(project_scripts_dir, script_name)
+    print(f">>> Copying {external_script} to {script_destination}")
+    shutil.copyfile(external_script, script_destination)
+
+files_to_cat = []
+message_dir = os.path.join(project_dir, "Assets", "RosMessages")
+print(f">>> Files in {message_dir}:")
+for root, _, files in os.walk(message_dir):
+    level = root.replace(message_dir, '').count(os.sep)
+    indent = ' ' * 4 * level
+    print('{}{}/'.format(indent, os.path.basename(root)))
+    subindent = ' ' * 4 * (level + 1)
+    for f in files:
+        print('{}{}'.format(subindent, f))
+        if f.endswith(".cs") or f.endswith(".asmdef"):
+            files_to_cat.append(os.path.join(root, f))
+
+# On Yamato, Unity fails to recompile the message directory under mysterious circumstances, so moving it into
+# the Scripts directory to attempt to force a recompile
+print(f"Moving {message_dir} to {project_scripts_dir}")
+shutil.move(message_dir, project_scripts_dir)
+
+# for f in files_to_cat:
+#     print(f">>> {f}:")
+#     os.system(f"cat {f}")
+#     print("\n")
+
+# We must keep a backup copy of the ProjectSettings.asset because UTR will serialize the one in the project as a binary
+# file, making it impossible to load as a yaml file here
+test_settings = os.path.join(".", ".yamato", "PickAndPlaceTests", "IntegrationTestSettings.asset")
+project_settings_relative = os.path.join(".", "tutorials", "pick_and_place", "PickAndPlaceProject", "ProjectSettings", "ProjectSettings.asset")
+shutil.copyfile(test_settings, project_settings_relative)
+
+# TODO: We have to use the above, bad solution, for now, because the below solution won't work until
+#       UTR stops re-serializing the settings
+# project_settings_asset = UnityDocument.load_yaml(project_settings_file)
+# scripting_defines = project_settings_asset.entry.scriptingDefineSymbols  # type: OrderedDict
+# if scripting_defines[1]:
+#     scripting_defines[1] += f";{_INTEGRATION_TEST_DEFINE}"
+# else:
+#     scripting_defines[1] = _INTEGRATION_TEST_DEFINE
+# project_settings_asset.dump_yaml()

.yamato/PickAndPlaceTests/start-ros.bash

+source /opt/ros/noetic/setup.bash
+
+set -e
+
+# Assuming this script is invoked from the root of the repository...
+DIR_ORIGINAL=$PWD
+cd tutorials/pick_and_place/ROS
+catkin_make
+source devel/setup.bash
+cd "$DIR_ORIGINAL"
+roslaunch niryo_moveit part_3.launch &

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/Unity.Robotics.RosMessages.asmdef

+{
+    "name": "Unity.Robotics.RosMessages",
+    "rootNamespace": "",
+    "references": [
+        "GUID:625bfc588fb96c74696858f2c467e978"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/TargetPlacement.cs

+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Unity.Robotics.PickAndPlace
+{
+
+    [RequireComponent(typeof(MeshRenderer))]
+    [RequireComponent(typeof(BoxCollider))]
+    public class TargetPlacement : MonoBehaviour
+    {
+        const string k_NameExpectedTarget = "Target";
+        static readonly int k_ShaderColorId = Shader.PropertyToID("_Color");
+        // The threshold that the Target's speed must be under to be considered "placed" in the target area
+        const float k_MaximumSpeedForStopped = 0.01f;
+
+        [SerializeField]
+        [Tooltip("Target object expected by this placement area. Can be left blank if only one Target in scene")]
+        GameObject m_Target;
+        [SerializeField]
+        [Range(0, 255)]
+        [Tooltip("Alpha value for any color set during state changes.")]
+        int m_ColorAlpha = 100;
+
+        MeshRenderer m_TargetMeshRenderer;
+
+        float m_ColorAlpha01 => m_ColorAlpha / 255f;
+        MeshRenderer m_MeshRenderer;
+        BoxCollider m_BoxCollider;
+        PlacementState m_CurrentState;
+        PlacementState m_LastColoredState;
+
+        public PlacementState CurrentState
+        {
+            get => m_CurrentState;
+            private set
+            {
+                m_CurrentState = value;
+                UpdateStateColor();
+            }
+        }
+
+        public enum PlacementState
+        {
+            Outside,
+            InsideFloating,
+            InsidePlaced
+        }
+
+        // Start is called before the first frame update
+        void Start()
+        {
+            // Check for mis-configurations and disable if something has changed without this script being updated
+            // These are warnings because this script does not contain critical functionality
+            if (m_Target == null)
+            {
+                m_Target = GameObject.Find(k_NameExpectedTarget);
+            }
+
+            if (m_Target == null)
+            {
+                Debug.LogWarning($"{nameof(TargetPlacement)} expects to find a GameObject named " +
+                    $"{k_NameExpectedTarget} to track, but did not. Can't track placement state.");
+                enabled = false;
+                return;
+            }
+
+            if (!TrySetComponentReferences())
+            {
+                enabled = false;
+                return;
+            }
+            InitializeState();
+        }
+
+        bool TrySetComponentReferences()
+        {
+            m_TargetMeshRenderer = m_Target.GetComponent<MeshRenderer>();
+            if (m_TargetMeshRenderer == null)
+            {
+                Debug.LogWarning($"{nameof(TargetPlacement)} expects a {nameof(MeshRenderer)} to be attached " +
+                    $"to {k_NameExpectedTarget}. Cannot check bounds without it, so cannot track placement state.");
+                return false;
+            }
+
+            // Assume these are here because they are RequiredComponent components
+            m_MeshRenderer = GetComponent<MeshRenderer>();
+            m_BoxCollider = GetComponent<BoxCollider>();
+            return true;
+        }
+
+        void OnValidate()
+        {
+            // Useful for visualizing state in editor, but doesn't wholly guarantee accurate coloring in EditMode
+            // Enter PlayMode to see color update correctly
+            if (m_Target != null)
+            {
+                if (TrySetComponentReferences())
+                {
+                    InitializeState();
+                }
+            }
+        }
+
+        void InitializeState()
+        {
+            if (m_Target.GetComponent<BoxCollider>().bounds.Intersects(m_BoxCollider.bounds))
+            {
+                CurrentState = IsTargetStoppedInsideBounds() ?
+                    PlacementState.InsidePlaced : PlacementState.InsideFloating;
+            }
+            else
+            {
+                CurrentState = PlacementState.Outside;
+            }
+        }
+
+        void OnTriggerEnter(Collider other)
+        {
+            if (other.gameObject.name == k_NameExpectedTarget)
+            {
+                CurrentState = PlacementState.InsideFloating;
+            }
+        }
+
+        void OnTriggerExit(Collider other)
+        {
+            if (other.gameObject.name == k_NameExpectedTarget)
+            {
+                CurrentState = PlacementState.Outside;
+            }
+        }
+
+        bool IsTargetStoppedInsideBounds()
+        {
+            var targetIsStopped = m_Target.GetComponent<Rigidbody>().velocity.magnitude < k_MaximumSpeedForStopped;
+            var targetIsInBounds = m_BoxCollider.bounds.Contains(m_TargetMeshRenderer.bounds.center);
+
+            return targetIsStopped && targetIsInBounds;
+        }
+
+        // Update is called once per frame
+        void Update()
+        {
+            if (CurrentState != PlacementState.Outside)
+            {
+                CurrentState = IsTargetStoppedInsideBounds() ?
+                    PlacementState.InsidePlaced : PlacementState.InsideFloating;
+            }
+        }
+
+        void UpdateStateColor()
+        {
+            if (m_CurrentState == m_LastColoredState)
+            {
+                return;
+            }
+
+            var mpb = new MaterialPropertyBlock();
+            Color stateColor;
+            switch (m_CurrentState)
+            {
+                case PlacementState.Outside:
+                    stateColor = Color.red;
+                    break;
+                case PlacementState.InsideFloating:
+                    stateColor = Color.yellow;
+                    break;
+                case PlacementState.InsidePlaced:
+                    stateColor = Color.green;
+                    break;
+                default:
+                    Debug.LogError($"No state handling implemented for {m_CurrentState}");
+                    stateColor = Color.magenta;
+                    break;
+            }
+
+            stateColor.a = m_ColorAlpha01;
+            mpb.SetColor(k_ShaderColorId, stateColor);
+            m_MeshRenderer.SetPropertyBlock(mpb);
+            m_LastColoredState = m_CurrentState;
+        }
+    }
+}

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/PlayModeTestScenes/TargetPlacementTest.unity.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/ExamplePlayModeTests.cs

-using System.Collections;
-using System.Collections.Generic;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-public class ExamplePlayModeTests
-{
-    // A Test behaves as an ordinary method
-    [Test]
-    public void ExamplePlayModeTestsSimplePasses()
-    {
-        // Use the Assert class to test conditions
-    }
-
-    // A UnityTest behaves like a coroutine in Play Mode. In Edit Mode you can use
-    // `yield return null;` to skip a frame.
-    [UnityTest]
-    public IEnumerator ExamplePlayModeTestsWithEnumeratorPasses()
-    {
-        // Use the Assert class to test conditions.
-        // Use yield to skip a frame.
-        yield return null;
-    }
-}