More project updated for 2020.3 and fixing tests.

TestProjects/PerceptionHDRP/Assets/HDRenderPipelineAsset.asset

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TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity

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TestProjects/PerceptionHDRP/Packages/manifest.json

     "com.unity.test-framework": "1.1.27",
     "com.unity.testtools.codecoverage": "1.1.0",
     "com.unity.textmeshpro": "3.0.6",
+    "com.unity.toolchain.win-x86_64-linux-x86_64": "0.1.21-preview",
     "com.unity.ugui": "1.0.0",
     "nuget.moq": "1.0.0",
     "com.unity.modules.ai": "1.0.0",

TestProjects/PerceptionHDRP/Packages/packages-lock.json

       },
       "url": "https://packages.unity.com"
     },
+    "com.unity.sysroot": {
+      "version": "0.1.19-preview",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.com"
+    },
+    "com.unity.sysroot.linux-x86_64": {
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+      "depth": 1,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.sysroot": "0.1.18-preview"
+      },
+      "url": "https://packages.unity.com"
+    },
     "com.unity.test-framework": {
       "version": "1.1.27",
       "depth": 0,
       "source": "registry",
       "dependencies": {
         "com.unity.ugui": "1.0.0"
+      },
+      "url": "https://packages.unity.com"
+    },
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+      "depth": 0,
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+      "dependencies": {
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+        "com.unity.sysroot.linux-x86_64": "0.1.14-preview"
       },
       "url": "https://packages.unity.com"
     },

TestProjects/PerceptionHDRP/ProjectSettings/GraphicsSettings.asset

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   m_LightsUseLinearIntensity: 1
   m_LightsUseColorTemperature: 1
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-  m_AllowEnlightenSupportForUpgradedProject: 0

TestProjects/PerceptionHDRP/ProjectSettings/ProjectSettings.asset

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   androidMaxAspectRatio: 2.1
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   iOSAutomaticallyDetectAndAddCapabilities: 1
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     tvOS: 1
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     m_VersionName: 
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TestProjects/PerceptionHDRP/ProjectSettings/UnityConnectSettings.asset

   m_EventOldUrl: https://api.uca.cloud.unity3d.com/v1/events
   m_EventUrl: https://cdp.cloud.unity3d.com/v1/events
   m_ConfigUrl: https://config.uca.cloud.unity3d.com
+  m_DashboardUrl: https://dashboard.unity3d.com
   m_TestInitMode: 0
   CrashReportingSettings:
     m_EventUrl: https://perf-events.cloud.unity3d.com

com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs

 
             var positionsPixeldata = new NativeArray<half>(textureDimensions.x * textureDimensions.y * 2, Allocator.Temp);
             var depthPixeldata = new NativeArray<half>(textureDimensions.x * textureDimensions.y, Allocator.Temp);
-            var depthTexture = Shader.GetGlobalTexture("_CameraDepthTexture");
+            //var depthTexture = Shader.GetGlobalTexture("_CameraDepthTexture");
 
             for (int i = 0; i < checkLocations.Length; i++)
             {
 
             m_MaterialDepthCheck.SetTexture("_Positions", m_KeypointPositionsTexture);
             m_MaterialDepthCheck.SetTexture("_KeypointCheckDepth", m_KeypointCheckDepthTexture);
-            m_MaterialDepthCheck.SetTexture("_CameraDepthTexture", depthTexture);
+            //m_MaterialDepthCheck.SetTexture("_CameraDepthTexture", depthTexture);
             commandBuffer.Blit(null, m_ResultsBuffer, m_MaterialDepthCheck);
 
             scriptableRenderContext.ExecuteCommandBuffer(commandBuffer);

com.unity.perception/Tests/Runtime/GroundTruthTests/DatasetCaptureSensorSchedulingTests.cs

             var simulationDeltaTime = 0.05f;
             var sensorHandle = DatasetCapture.RegisterSensor(ego, "cam", "", 0, CaptureTriggerMode.Manual, simulationDeltaTime, 0, true);
 
-            var framesToCaptureOn = new List<int>();
-
-            var startFrame = Time.frameCount;
-            var startTime = Time.time;
-
-            while (framesToCaptureOn.Count < 10)
+            var framesToCaptureOn = new List<int>()
-                var randomFrame = Random.Range(startFrame, startFrame + 100);
-                if(!framesToCaptureOn.Contains(randomFrame))
-                    framesToCaptureOn.Add(randomFrame);
-            }
+                Time.frameCount + 3,
+                Time.frameCount + 5,
+                Time.frameCount + 6,
+                Time.frameCount + 10,
+                Time.frameCount + 15,
+                Time.frameCount + 25,
+            };
 
             framesToCaptureOn.Sort();
 
             {
-                sequenceTimesExpected[i] = (framesToCaptureOn[i] - startFrame) * simulationDeltaTime;
+                sequenceTimesExpected[i] = (framesToCaptureOn[i] - Time.frameCount) * simulationDeltaTime;
             }
 
             var frameIndex = 0;

com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs

     public class KeyPointGroundTruthTests : GroundTruthTestBase, IPrebuildSetup, IPostBuildCleanup
     {
         private const string kAnimatedCubeScenePath = "Packages/com.unity.perception/Tests/Runtime/TestAssets/AnimatedCubeScene.unity";
+        private const string kCubeScenePath = "Packages/com.unity.perception/Tests/Runtime/TestAssets/CubeScene.unity";
         private const double k_Delta = .01;
 
         public void Setup()
             scenes.Add(new UnityEditor.EditorBuildSettingsScene(kAnimatedCubeScenePath, true));
+            scenes.Add(new UnityEditor.EditorBuildSettingsScene(kCubeScenePath, true));
             UnityEditor.EditorBuildSettings.scenes = scenes.ToArray();
 #endif
         }
 #if UNITY_EDITOR
             var scenes = UnityEditor.EditorBuildSettings.scenes;
-            scenes = scenes.Where(s => s.path != kAnimatedCubeScenePath).ToArray();
+            scenes = scenes.Where(s => s.path != kAnimatedCubeScenePath && s.path != kCubeScenePath).ToArray();
+        }
+
+        [UnitySetUp]
+        public IEnumerator SetupTest()
+        {
+            foreach (var p in LoadCubeScene()) yield return p;
         }
 
         static GameObject SetupCamera(IdLabelConfig config, KeypointTemplate template, Action<int, List<KeypointLabeler.KeypointEntry>> computeListener, RenderTexture renderTexture = null, KeypointObjectFilter keypointObjectFilter = KeypointObjectFilter.Visible)
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
             var labeling = cube.GetComponent<Labeling>();
 
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             });
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             cube.transform.position = new Vector3(-1000, -1000, 0);
             }, texture);
             cam.GetComponent<PerceptionCamera>().showVisualizations = false;
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoint(cube, "Center", 0, 0, -.5f);
 
             cube.SetActive(true);
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
             cube.transform.position += Vector3.right * 13.5f;
 
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
 
         private void CreateFullyOccludedScene(KeypointTemplate template, GameObject cam)
         {
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             var blocker = GameObject.CreatePrimitive(PrimitiveType.Cube);
                 incoming.Add(data);
             }, texture, keypointObjectFilter);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: -100);
+            var cube = SetupLabeledCube(scale: 6, z: -100);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
                 incoming.Add(data);
             }, texture, KeypointObjectFilter.All);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: -20);
+            var cube = SetupLabeledCube(scale: 6, z: -20);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             var blocker = GameObject.CreatePrimitive(PrimitiveType.Cube);
 
 
             //For some reason the back of this cube is being resolved to 7.5 away from the camera, but on the CPU side it is being recorded as 18.34375
-            var cube = TestHelper.CreateLabeledCube(scale: args.scale, z: 0);
+            var cube = SetupLabeledCube(scale: args.scale, z: 0);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
                 camComponent.orthographic = true;
                 camComponent.orthographicSize = .5f;
             }
-
-            var cube = TestHelper.CreateLabeledCube(scale: 1f, x: args.origin.x, y: args.origin.y, z: args.origin.z);
+            var cube = GameObject.Find("Cube");
+            TestHelper.SetupLabeledCube(cube, scale: 1f, x: args.origin.x, y: args.origin.y, z: args.origin.z);
             cube.transform.localScale = args.objectScale;
             cube.transform.localRotation = args.rotation;
             var localSelfOcclusionDistance = args.checkDistanceType == CheckDistanceType.JointLabel ? (float?)args.checkDistance : null;
             Assert.AreEqual(1, testCase.Count);
             var t = testCase.First();
             Assert.AreEqual(args.expectOccluded ? 1 : 2, t.keypoints[8].state);
+        }
+
+        private IEnumerable LoadCubeScene()
+        {
+            SceneManager.LoadScene("CubeScene", LoadSceneMode.Additive);
+            AddSceneForCleanup("CubeScene");
+            yield return null;
         }
 
 
             camComponent.orthographicSize = 100f;
             cam.transform.localPosition = new Vector3(0, 0, -95f);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 1f);
+            var cube = GameObject.Find("Cube");
+            TestHelper.SetupLabeledCube(cube, scale: 1f);
             cube.transform.localScale = args.objectScale;
             cube.transform.localRotation = args.rotation;
             SetupCubeJoint(cube, "Center", args.pointLocalPosition.x, args.pointLocalPosition.y, args.pointLocalPosition.z, args.checkDistance);
             camComponent.orthographicSize = 100f;
             cam.transform.localPosition = new Vector3(0, 0, -95f);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 1f);
+            var cube = SetupLabeledCube(scale: 1f);
             cube.transform.localScale = args.objectScale;
             cube.transform.localRotation = args.rotation;
             SetupCubeJoint(cube, "Center", args.pointLocalPosition.x, args.pointLocalPosition.y, args.pointLocalPosition.z, args.checkDistance);
             Assert.AreEqual(args.expectOccluded ? 1 : 2, t.keypoints[8].state);
         }
 
+        public static GameObject SetupLabeledCube(float scale = 10, string label = "label", float x = 0, float y = 0,
+            float z = 0, float roll = 0, float pitch = 0, float yaw = 0)
+        {
+            return TestHelper.SetupLabeledCube(GameObject.Find("Cube"), scale, label, x, y, z, roll, pitch, yaw);
+        }
+
         [UnityTest]
         public IEnumerator ManyObjects_LabelsCorrectly()
         {
 
             void PlaceObjects(Rect rect, float z, Vector2Int count)
             {
+                var cubeBase = GameObject.Find("Cube");
-                        var cube = TestHelper.CreateLabeledCube(
+                        var cube = GameObject.Instantiate(cubeBase);
+                        TestHelper.SetupLabeledCube(
+                            cube,
                             scale: rect.width / count.x - .001f,
                             x: rect.width / count.x * x + rect.xMin,
                             y: rect.height / count.y * y + rect.yMin,

com.unity.perception/Tests/Runtime/GroundTruthTests/TestHelper.cs

         public static GameObject CreateLabeledCube(float scale = 10, string label = "label", float x = 0, float y = 0, float z = 0, float roll = 0, float pitch = 0, float yaw = 0)
         {
             var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
+
+            return SetupLabeledCube(cube, scale, label, x, y, z, roll, pitch, yaw);
+        }
+
+        public static GameObject SetupLabeledCube(GameObject cube, float scale = 10, string label = "label", float x = 0, float y = 0, float z = 0, float roll = 0, float pitch = 0, float yaw = 0)
+        {
             cube.transform.SetPositionAndRotation(new Vector3(x, y, z), Quaternion.Euler(pitch, yaw, roll));
             cube.transform.localScale = new Vector3(scale, scale, scale);
             var labeling = cube.AddComponent<Labeling>();

TestProjects/PerceptionHDRP/ProjectSettings/SceneTemplateSettings.json

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TestProjects/PerceptionURP/UserSettings/EditorUserSettings.asset

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