Initial commit

.gitattributes

+*.manifest text !filter !merge !diff
+*.css text !filter !merge !diff
+*.js text !filter !merge !diff
+*.yml text !filter !merge !diff
+*.txt text !filter !merge !diff
+*.json text !filter !merge !diff
+*.hlsl text !filter !merge !diff
+*.asmdef text !filter !merge !diff
+*.npmignore text !filter !merge !diff
+*.md text !filter !merge !diff
+*.cginc text !filter !merge !diff
+*.shader text !filter !merge !diff
+*.compute text !filter !merge !diff
+*.cs text !filter !merge !diff
+*.meta text !filter !merge !diff

.gitignore

+artifacts/**
+build/**
+**/.vs/**
+.build_script/**
+node_modules/**
+**/Temp/**/*
+**/obj/**/*
+**/Library/**/*
+**/TestProjects/Public/Logs/**
+**/TestProjects/PerceptionTest/utr
+**/TestProjects/PerceptionTest/Build
+**/*Results/**
+**/Logs/**
+**/.vscode/**
+**/.idea/**
+.DS_Store
+.npmrc
+!Documentation~
+!.Documentation
+npm-debug.log
+build.sh.meta
+build.bat.meta
+.idea/
+.Editor/*
+upm-ci~/*
+
+*.csproj
+*.sln
+
+*.lib*
+*.pdb*
+**/.Editor
+**/upm-ci~
+**/.bin
+CodeCoverage
+/.download
+/TestProjects/PerceptionURP/Build

.npmignore

+artifacts/**
+build/**
+.build_script/**
+node_modules/**
+TestProjects/**
+.DS_Store
+.npmrc
+.npmignore
+.gitignore
+.gitlab-ci.yml
+build.sh
+build.sh.meta
+build.bat
+build.bat.meta

CONTRIBUTING.md

+# Contributing
+
+## If you are interested in contributing, here are some ground rules:
+* All changes should be made on branches. Open a PR and add a member of the perception team to have your changes be merged.
+
+## All contributions are subject to the [Unity Contribution Agreement(UCA)](https://unity3d.com/legal/licenses/Unity_Contribution_Agreement)
+By making a pull request, you are confirming agreement to the terms and conditions of the UCA, including that your Contributions are your original creation and that you have complete right and authority to make your Contributions.
+
+## Once you have a change ready following these ground rules. Simply make a pull request

CONTRIBUTING.md.meta

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README.md

+# Perception
+
+The Perception package contains tools for authoring and executing autonomous vehicle simulations. They are organized into two categories: Scenarios and Sensors.
+
+## Scenarios
+
+TODO
+
+# Setup for local development
+* Clone the perception repository into an arbirary directory on disk
+* Install and use Unity 2019.3.0b7
+
+## Option 1: PerceptionHDRP/PerceptionURP
+The repository includes two projects for local development in `TestProjects`, one set up for HDRP and the other for URP.
+
+## Option 2: Set up a project from scratch
+*The following instructions reference the Unity doc's page on [installing a local package](https://docs.unity3d.com/Manual/upm-ui-local.html)*
+* Create a new HDRP project or open an existing one
+* Open your project's `<project root>/Packages/manifest.json` in a text editor
+* At the end of the file, add `"registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"`
+    * _Note: This step will be removed once the dependency `com.unity.entities-0.2.0-preview.*` is published publically._
+* Back in Unity, open the Package Manager window
+* Add the High Definition RP package, version 7.1.2 or later
+* Click the ***+*** button in the upper lefthand corner of the window
+* Click the ***add package from disk*** option
+* Select to the package.json file under the com.unity.perception folder in your cloned perception repository
+* To allow the compilation and running of tests, add `"testables": [ "com.unity.perception" ]`
+    * For an example `manifest.json`, see `TestProjects/PerceptionTest/Packages/manifest.json`
+    * For more on the `manifest.json` schema, see the [Package Manager documentation](https://docs.unity3d.com/Packages/com.unity.package-manager-ui@1.7/manual/index.html#advanced-package-topics)
+
+## Suggested IDE Setup
+For closest standards conformity and best experience overall, JetBrains Rider or Visual Studio w/ JetBrains Resharper are suggested. For optimal experience, perform the following additional steps:
+* To allow navigating to code in all packages included in your project, in your Unity Editor, navigate to `Edit -> Preferences... -> External Tools` and check `Generate all .csproj files.` 
+* To get automatic feedback and fixups on formatting and naming convention violations, set up Rider/JetBrains with our Unity standard .dotsettings file by following [these instructions](https://github.cds.internal.unity3d.com/unity/com.unity.coding/tree/master/UnityCoding/Packages/com.unity.coding/Coding~/Configs/JetBrains).
+* If you use VS Code, install the Editorconfig extension to get automatic code formatting according to our conventions.

.github/pull_request_template.md

+# Peer Review Information:
+Information on any code, feature, documentation changes here
+
+## Editor / Package versioning:
+**Editor Version Target (i.e. 19.3, 20.1)**: 2019.3
+
+## Dev Testing:
+**Tests Added**: 
+<br>
+**Package Tests (Pass/Fail)**: 
+[X] - Make sure automation passes 
+<br>
+**Core Scenario Tested**: 
+<br>
+**At Risk Areas**: 
+<br>
+**Notes + Expectations**: 

.yamato/promotion.yml

+# The Yamato build step `publish` will publish the com.unity.perception package to the `upm-candidates` registry. To see which versions of the package have been published, see 
+#   * https://artifactory.prd.cds.internal.unity3d.com/artifactory/webapp/#/artifacts/browse/tree/General/upm-candidates/com.unity.perception
+#   * https://bintray.com/unity
+#test_editors:
+#  - version: 2019.1
+#test_platforms:
+#  - name: win
+#    type: Unity::VM
+#    image: package-ci/win10:stable
+#    flavor: b1.large
+#---
+#{% for editor in test_editors %}
+#{% for platform in test_platforms %}
+#promotion_test_{{ platform.name }}_{{ editor.version }}:
+#  name : Promotion Test {{ editor.version }} on {{ platform.name }}
+#  agent:
+#    type: {{ platform.type }}
+#    image: {{ platform.image }}
+#    flavor: {{ platform.flavor}}
+#  variables:
+#    UPMCI_PROMOTION: 1
+#  commands:
+#    - npm install upm-ci-utils@latest -g --registry https://api.bintray.com/npm/unity/unity-npm
+#    - upm-ci package test --unity-version {{ editor.version }}
+#  artifacts:
+#    logs:
+#      paths:
+#        - "upm-ci~/test-results/**/*"
+#  dependencies:
+#    - .yamato/upm-ci.yml#pack
+#{% endfor %}
+#{% endfor %}
+#
+#promotion_test_trigger:
+#  name: Promotion Tests Trigger
+#  agent:
+#    type: Unity::VM
+#    image: package-ci/win10:stable
+#    flavor: b1.large
+#  artifacts:
+#    logs:
+#      paths:
+#        - "upm-ci~/test-results/**/*"
+#    packages:
+#      paths:
+#        - "upm-ci~/packages/**/*"
+#  dependencies:
+#{% for editor in test_editors %}
+#{% for platform in test_platforms %}
+#    - .yamato/promotion.yml#promotion_test_{{platform.name}}_{{editor.version}}
+#{% endfor %}
+#{% endfor %}
+#
+#promote:
+#  name: Promote to Production
+#  agent:
+#    type: Unity::VM
+#    image: package-ci/win10:stable
+#    flavor: b1.large
+#  variables:
+#    UPMCI_PROMOTION: 1
+#  commands:
+#    - npm install upm-ci-utils@latest -g --registry https://api.bintray.com/npm/unity/unity-npm
+#    - upm-ci package promote
+#  triggers:
+#    tags:
+#      only:
+#        - /^(r|R)elease-\d+\.\d+\.\d+(-preview(\.\d+)?)?$/
+#  artifacts:
+#    artifacts:
+#      paths:
+#        - "upm-ci~/packages/*.tgz"
+#  dependencies:
+#    - .yamato/upm-ci.yml#pack
+#{% for editor in test_editors %}
+#{% for platform in test_platforms %}
+#    - .yamato/promotion.yml#promotion_test_{{ platform.name }}_{{ editor.version }}
+#{% endfor %}
+#{% endfor %}

.yamato/upm-ci-full.yml

+test_editors:
+  - version: 2019.3.7f1
+test_platforms:
+  - name: win
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+    extra-args: --force-d3d11
+    standalone-platform: StandaloneWindows64
+  - name: mac
+    type: Unity::VM::osx
+    image: buildfarm/mac:stable
+    flavor: m1.mac
+    extra-args: --force-metal
+    standalone-platform: StandaloneOSX
+  - name: ubuntu
+    type: Unity::VM
+    image: package-ci/ubuntu:latest
+    flavor: b1.large
+
+suites:
+  - name: standalone
+    display_name: standalone
+    args: --suite=playmode --platform=
+  - name: editmode
+    display_name: editmode
+    args: --suite=playmode --suite=editor --platform=editmode
+
+package_variants:
+  - name: Perception
+
+projects:
+  - name: PerceptionHDRP
+  - name: PerceptionURP
+---
+{% for variant in package_variants %}
+pack_{{ variant.name }}:
+  name: Pack {{variant.name}} package
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  commands:
+     - git submodule update --init --recursive
+     - npm install upm-ci-utils -g --registry https://api.bintray.com/npm/unity/unity-npm
+     - upm-ci package pack --package-path ./com.unity.perception/ 
+  artifacts:
+    packages:
+      paths:
+        - "upm-ci~/packages/**/*"
+{% endfor %}
+
+{% for variant in package_variants %}
+{% for editor in test_editors %}
+{% for platform in test_platforms %}
+pkg_test_{{variant.name}}_{{ platform.name }}_{{ editor.version }}:
+  name : Package tests ({{variant.name}} pkg, {{ editor.version }}, {{ platform.name }})
+  agent:
+    type: {{ platform.type }}
+    image: {{ platform.image }}
+    flavor: {{ platform.flavor}}
+  commands:
+    - git submodule update --init --recursive
+    - npm install upm-ci-utils -g --registry https://api.bintray.com/npm/unity/unity-npm
+    - upm-ci package test -u {{ editor.version }} --package-path ./com.unity.perception --type vetting-tests
+  artifacts:
+    logs:
+      paths:
+        - "upm-ci~/test-results/**/*"
+  dependencies:
+    - .yamato/upm-ci-full.yml#pack_{{ variant.name }}
+{% endfor %}
+{% endfor %} 
+{% endfor %} 
+
+test_trigger:
+  name: All Tests
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.small
+  commands:
+    - dir
+  triggers:
+    branches:
+      only:
+        - "/.*/"
+    recurring:
+      - branch: master
+        frequency: daily # Should run between midnight and 6AM UTC
+  artifacts:
+    logs:
+      paths:
+        - "upm-ci~/test-results/**/*"
+    packages:
+      paths:
+        - "upm-ci~/packages/**/*"
+  dependencies:
+    {% for variant in package_variants %}
+    {% for editor in test_editors %}
+    {% for platform in test_platforms %}
+    - .yamato/upm-ci-full.yml#pkg_test_{{variant.name}}_{{platform.name}}_{{editor.version}}
+    {% endfor %}
+    {% endfor %}
+    {% endfor %}
+
+    # Disabling trigger of standalone tests which aren't working at the moment
+    {% for editor in test_editors %}
+    - .yamato/upm-ci-testprojects.yml#codecoverage_windows_editmode_{{editor.version}}
+    {% for project in projects %}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_windows_standalone_{{editor.version}}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_linux_standalone_{{editor.version}}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_windows_editmode_{{editor.version}}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_linux_editmode_{{editor.version}}
+    {% endfor %}
+    {% endfor %}
+
+{% for variant in package_variants %}
+publish:
+  name: Publish Perception package to internal registry
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  commands:
+    - npm install upm-ci-utils@stable -g --registry https://api.bintray.com/npm/unity/unity-npm
+    - upm-ci package publish --package-path com.unity.perception
+  triggers:
+    tags:
+      only:
+        - /^(r|R)(c|C)-\d+\.\d+\.\d+(-preview(\.\d+)?)?$/
+  artifacts:
+    artifacts:
+      paths:
+        - "upm-ci~/packages/*.tgz"
+  dependencies:
+    - .yamato/upm-ci-full.yml#pack_{{ variant.name }}
+    {% for editor in test_editors %}
+    {% for platform in test_platforms %}
+    - .yamato/upm-ci-full.yml#test_perception_{{ platform.name }}_{{ editor.version }}
+    {% endfor %}
+    {% endfor %}
+{% endfor %}

.yamato/upm-ci-testprojects.yml

+test_editors:
+  - version: 2019.3.7f1
+suites:
+  - name: standalone
+    display_name: standalone
+    args: --suite=playmode --platform=
+  - name: editmode
+    display_name: editmode
+    args: --suite=playmode --suite=editor --platform=Editor
+projects:
+  - name: PerceptionHDRP
+  - name: PerceptionURP
+---
+
+{% for editor in test_editors %}
+{% for suite in suites %}
+{% for project in projects %}
+{{project.name}}_windows_{{suite.name}}_{{editor.version}}:
+  name : {{project.name}} {{ suite.display_name }} tests ({{ editor.version }}, Windows)
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  commands:
+    - git submodule update --init --recursive
+    - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
+    - pip install unity-downloader-cli --extra-index-url https://artifactory.internal.unity3d.com/api/pypi/common-python/simple
+    - unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
+    {% if suite.name == "standalone" %}
+    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}StandaloneWindows64
+    {% else %}
+    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}} 
+    {% endif %}
+  artifacts:
+    logs:
+      paths:
+        - "test-results/**/*"
+
+{% endfor %} 
+{% endfor %} 
+{% endfor %}
+
+{% for editor in test_editors %}
+{% for suite in suites %}
+codecoverage_windows_{{suite.name}}_{{editor.version}}:
+  name : CodeCoverage {{ suite.display_name }} tests ({{ editor.version }}, Windows)
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  commands:
+    - git submodule update --init --recursive
+    - unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
+    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform editmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport; assemblyFilters:Unity.Perception.Editor;Unity.Perception.Runtime;Unity.Perception.Sensors; 
+    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform playmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport; assemblyFilters:Unity.Perception.Editor;Unity.Perception.Runtime;Unity.Perception.Sensors;
+  #  - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;
+  artifacts:
+    logs:
+      paths:
+        - "test-results/**/*"
+        - "TestProjects/PerceptionHDRP/test-results/**/*"
+  dependencies:
+    - .yamato/upm-ci-full.yml#pack_Perception
+{% endfor %} 
+{% endfor %}
+
+{% for editor in test_editors %}
+{% for suite in suites %}
+{% for project in projects %}
+{{project.name}}_linux_{{suite.name}}_{{editor.version}}:
+  name : {{project.name}} {{ suite.display_name }} tests ({{ editor.version }}, Linux)
+  agent:
+    type: Unity::VM::GPU
+    image: cds-ops/ubuntu-18.04-base:latest
+    flavor: b1.large
+  commands:
+    - git submodule update --init --recursive
+    - sudo -H pip install --upgrade pip
+    - sudo -H pip install unity-downloader-cli --extra-index-url https://artifactory.internal.unity3d.com/api/pypi/common-python/simple
+    - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
+    - sudo unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
+    {% if suite.name == "standalone" %}
+    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-vulkan" {{suite.args}}StandaloneLinux64
+    {% else %}
+    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-vulkan" {{suite.args}}
+    {% endif %}
+  artifacts:
+    logs:
+      paths:
+        - "test-results/**/*"
+{% endfor %} 
+{% endfor %} 
+{% endfor %}
+
+# Not including OSX because the only OSX platform on Bokken with a GPU is a Mac Mini, of which there are only a few and setting up Yamato jobs is very complicated.
+
+# {% for variant in package_variants %}
+# {% for editor in test_editors %}
+# code_coverage_win_{{editor.version}}:
+#   name: Code Coverage Report - Windows
+#   agent:
+#     type: Unity::VM
+#     image: package-ci/win10:stable
+#     flavor: b1.large
+#   commands:
+#     - npm install upm-ci-utils@stable -g --registry https://api.bintray.com/npm/unity/unity-npm
+#     - upm-ci package test --unity-version {{editor.version}} --enable-code-coverage --code-coverage-options 'enableCyclomaticComplexity;generateHtmlReport'
+#   artifacts:
+#     logs:
+#       paths:
+#         - "upm-ci~/test-results/**/*"
+#   dependencies:
+#     - .yamato/upm-ci-full.yml#pack_{{ variant.name }}
+# {% endfor %}
+# {% endfor %}

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