refactored scenario end frame behavior

com.unity.perception/Runtime/Randomization/Scenarios/FixedLengthScenario.cs

 using System;
+using UnityEngine.Perception.GroundTruth;
 
 namespace UnityEngine.Perception.Randomization.Scenarios
 {
     [AddComponentMenu("Perception/Scenarios/Fixed Length Scenario")]
     public class FixedLengthScenario: UnitySimulationScenario<FixedLengthScenario.Constants>
     {
+        PerceptionCamera m_PerceptionCamera;
+
         /// <summary>
         /// Constants describing the execution of this scenario
         /// </summary>
         /// Returns whether the current scenario iteration has completed
         /// </summary>
         protected override bool isIterationComplete => currentIterationFrame >= constants.framesPerIteration;
+
+        /// <inheritdoc/>
+        protected override void OnAwake()
+        {
+            base.OnAwake();
+            m_PerceptionCamera = FindObjectOfType<PerceptionCamera>();
+            if (m_PerceptionCamera != null && m_PerceptionCamera.captureTriggerMode != CaptureTriggerMode.Manual)
+            {
+                Debug.LogError("The perception camera must be set to manual capture mode", m_PerceptionCamera);
+                m_PerceptionCamera.enabled = false;
+                enabled = false;
+            }
+        }
+
+        /// <inheritdoc/>
+        protected override void OnIterationStart()
+        {
+            if (m_PerceptionCamera != null && currentIterationFrame == constants.framesPerIteration - 1)
+                m_PerceptionCamera.RequestCapture();
+        }
     }
 }

com.unity.perception/Runtime/Randomization/Scenarios/PerceptionScenario.cs

         /// </summary>
         MetricDefinition m_IterationMetricDefinition;
 
-        /// <summary>
-        /// The scriptable render pipeline hook used to capture perception data skips the first frame of the simulation
-        /// when running locally, so this flag is used to track whether the first frame has been skipped yet.
-        /// </summary>
-        protected bool m_SkippedFirstFrame;
-
-        /// <inheritdoc/>
-        protected override bool isScenarioReadyToStart
-        {
-            get
-            {
-                if (!m_SkippedFirstFrame)
-                {
-                    m_SkippedFirstFrame = true;
-                    return false;
-                }
-                return true;
-            }
-        }
-
         /// <inheritdoc/>
         protected override void OnAwake()
         {

com.unity.perception/Runtime/Randomization/Scenarios/ScenarioBase.cs

 using System;
+using System.Collections;
 using System.Collections.Generic;
 using System.IO;
 using UnityEditor;
         /// The scenario will begin on the frame this property first returns true
         /// </summary>
         /// <returns>Whether the scenario should start this frame</returns>
-        protected abstract bool isScenarioReadyToStart { get; }
+        protected virtual bool isScenarioReadyToStart => true;
 
         /// <summary>
         /// Returns whether the current scenario iteration has completed
 
         void Update()
         {
+            // There are two known issues with the starting simulations on the first frame: rendered frames cannot be
+            // captured and the WaitForEndOfFrame will not function properly on the first frame.
+            if (Time.frameCount == 1)
+                return;
+
             switch (state)
             {
                 case State.Initializing:
 
         void IterationLoop()
         {
+            // Perform new iteration tasks
+            if (currentIterationFrame == 0)
+            {
+                ResetRandomStateOnIteration();
+                OnIterationStart();
+                foreach (var randomizer in activeRandomizers)
+                    randomizer.IterationStart();
+            }
+
+            // Perform new frame tasks
+            OnUpdate();
+            foreach (var randomizer in activeRandomizers)
+                randomizer.Update();
+
+            StartCoroutine(EndOfFrameIterationLoop());
+        }
+
+        IEnumerator EndOfFrameIterationLoop()
+        {
+            yield return new WaitForEndOfFrame();
+
+            // Iterate scenario frame count
+            currentIterationFrame++;
+            framesSinceInitialization++;
+
             // Increment iteration and cleanup last iteration
             if (isIterationComplete)
             {
                 OnComplete();
                 state = State.Idle;
                 OnIdle();
-                return;
-
-            // Perform new iteration tasks
-            if (currentIterationFrame == 0)
-            {
-                ResetRandomStateOnIteration();
-                OnIterationStart();
-                foreach (var randomizer in activeRandomizers)
-                    randomizer.IterationStart();
-            }
-
-            // Perform new frame tasks
-            OnUpdate();
-            foreach (var randomizer in activeRandomizers)
-                randomizer.Update();
-
-            // Iterate scenario frame count
-            currentIterationFrame++;
-            framesSinceInitialization++;
         }
 
         /// <summary>

com.unity.perception/Runtime/Randomization/Scenarios/UnitySimulationScenario.cs

         where T : UnitySimulationScenarioConstants, new()
     {
         /// <inheritdoc/>
-        protected override bool isScenarioReadyToStart
-        {
-            get
-            {
-                if (!Configuration.Instance.IsSimulationRunningInCloud() && !m_SkippedFirstFrame)
-                {
-                    m_SkippedFirstFrame = true;
-                    return false;
-                }
-                return true;
-            }
-        }
-
-        /// <inheritdoc/>
         protected sealed override bool isScenarioComplete => currentIteration >= constants.totalIterations;
 
         /// <inheritdoc/>

com.unity.perception/Runtime/Randomization/Scenarios/AssetLoadingScenario.cs

+// using UnityEngine.AddressableAssets;
+//
+// namespace UnityEngine.Perception.Randomization.Scenarios
+// {
+//     [AddComponentMenu("Perception/Scenarios/Asset Loading Scenario")]
+//     public class AssetLoadingScenario : FixedLengthScenario
+//     {
+//         bool m_AssetsLoaded;
+//
+//
+//         protected override bool isScenarioReadyToStart => m_AssetsLoaded;
+//
+//         protected override void OnStart()
+//         {
+//             base.OnStart();
+//             Addressables.LoadAssetsAsync<GameObject>("", null).Completed += handle =>
+//             {
+//
+//             };
+//         }
+//     }
+// }

com.unity.perception/Runtime/Randomization/Scenarios/AssetLoadingScenario.cs.meta

+fileFormatVersion: 2
+guid: 1d7305f64b1a47dbb52fe9dbbbcdb931
+timeCreated: 1616181370