Add objective integration tests for all example_ws configs

.github/workflows/ci.yaml

@@ -14,6 +14,7 @@ on:
     - cron: "0 */6 * * 1-5"
 
 jobs:
+  # Lint and non-integration tests for all packages
   integration-test-in-studio-container:
     uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@v0.0.7
     with:
@@ -22,6 +23,32 @@ jobs:
     secrets:
       moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}
 
+  # Per-config objective integration tests (run in parallel via matrix)
+  objective-integration-test:
+    strategy:
+      fail-fast: false
+      matrix:
+        config_package:
+          - lab_sim
+          - kitchen_sim
+          - april_tag_sim
+          - grinding_sim
+          - dual_arm_sim
+          - factory_sim
+          - hangar_sim
+          - kinova_sim
+          - space_satellite_sim
+          - space_satellite_sim_camera_cal
+          - mock_sim
+          - multi_arm_sim
+    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@v0.0.6
+    with:
+      image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
+      config_package: ${{ matrix.config_package }}
+      colcon_test_args: "--executor sequential"
+    secrets:
+      moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}
+
   ensure-no-ssh-in-gitmodules:
     name: Ensure no SSH URLs in .gitmodules
     runs-on: ubuntu-22.04

src/april_tag_sim/CMakeLists.txt

@@ -28,8 +28,13 @@ install(
 )
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_add_pytest_test(
+          objectives_integration_test test/objectives_integration_test.py
+          TIMEOUT 600
+          ENV MOVEIT_CONFIG_PACKAGE=april_tag_sim MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR})
 endif()
 
 ament_package()

src/april_tag_sim/package.xml

@@ -28,7 +28,9 @@
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_force_controller</exec_depend>
 
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>moveit_pro_test_utils</test_depend>
 
   <test_depend>ament_clang_format</test_depend>
   <test_depend>ament_clang_tidy</test_depend>

src/april_tag_sim/test/objectives_integration_test.py

@@ -0,0 +1,57 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import pytest
+from moveit_pro_test_utils.objective_test_fixture import (
+    ExecuteObjectiveResource,
+    execute_objective_resource as execute_objective_resource,
+    get_objective_pytest_params,
+    run_objective,
+)
+
+cancel_objectives = set()
+
+# Objectives requiring AprilTag camera perception (no simulated camera feed in CI)
+skip_objectives = {
+    "Pick April Tag Labeled Object",  # Requires AprilTag detection + camera
+    "Collect Angled AprilTag Detection Data",  # Requires camera feed
+    "Collect AprilTag Detection Data",  # Requires camera feed
+    "Collect Parallel AprilTag Detection Data",  # Requires camera feed
+}
+
+
+@pytest.mark.parametrize(
+    "objective_id, should_cancel",
+    get_objective_pytest_params("april_tag_sim", cancel_objectives, skip_objectives),
+)
+def test_all_objectives(
+    objective_id: str,
+    should_cancel: bool,
+    execute_objective_resource: ExecuteObjectiveResource,
+):
+    run_objective(objective_id, should_cancel, execute_objective_resource)

src/dual_arm_sim/CMakeLists.txt

@@ -15,8 +15,13 @@ install(
 )
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_add_pytest_test(
+          objectives_integration_test test/objectives_integration_test.py
+          TIMEOUT 600
+          ENV MOVEIT_CONFIG_PACKAGE=dual_arm_sim MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR})
 endif()
 
 ament_package()

src/dual_arm_sim/package.xml

@@ -20,8 +20,10 @@
   <test_depend>ament_clang_tidy</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>moveit_pro_test_utils</test_depend>
   <test_depend>picknik_ament_copyright</test_depend>
 
   <export>

src/dual_arm_sim/test/objectives_integration_test.py

@@ -0,0 +1,54 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import pytest
+from moveit_pro_test_utils.objective_test_fixture import (
+    ExecuteObjectiveResource,
+    execute_objective_resource as execute_objective_resource,
+    get_objective_pytest_params,
+    run_objective,
+)
+
+cancel_objectives = set()
+
+# Objectives requiring user input or ML/GPU inference
+skip_objectives = {
+    "Teleoperate",  # Requires user teleoperation input
+}
+
+
+@pytest.mark.parametrize(
+    "objective_id, should_cancel",
+    get_objective_pytest_params("dual_arm_sim", cancel_objectives, skip_objectives),
+)
+def test_all_objectives(
+    objective_id: str,
+    should_cancel: bool,
+    execute_objective_resource: ExecuteObjectiveResource,
+):
+    run_objective(objective_id, should_cancel, execute_objective_resource)

src/factory_sim/CMakeLists.txt

@@ -31,8 +31,13 @@ install(DIRECTORY "${PICKNIK_ACCESSORIES_PATH}"
         FILES_MATCHING PATTERN "*")
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_add_pytest_test(
+          objectives_integration_test test/objectives_integration_test.py
+          TIMEOUT 600
+          ENV MOVEIT_CONFIG_PACKAGE=factory_sim MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR})
 endif()
 
 ament_package()

src/factory_sim/package.xml

@@ -20,7 +20,9 @@
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_pro_behavior</exec_depend>
 
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>moveit_pro_test_utils</test_depend>
 
   <test_depend>ament_clang_format</test_depend>
   <test_depend>ament_clang_tidy</test_depend>

src/factory_sim/test/objectives_integration_test.py

@@ -0,0 +1,57 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import pytest
+from moveit_pro_test_utils.objective_test_fixture import (
+    ExecuteObjectiveResource,
+    execute_objective_resource as execute_objective_resource,
+    get_objective_pytest_params,
+    run_objective,
+)
+
+cancel_objectives = set()
+
+# Objectives requiring user input or ML/GPU inference
+skip_objectives = {
+    "Automask from File",  # Requires ML segmentation model
+    "Automask from Camera",  # Requires ML segmentation model + camera
+    "Automask Camera Iterate Masks",  # Requires ML segmentation model + camera
+    "Pick and Place Brackets from Left Bin",  # Requires ML perception pipeline
+}
+
+
+@pytest.mark.parametrize(
+    "objective_id, should_cancel",
+    get_objective_pytest_params("factory_sim", cancel_objectives, skip_objectives),
+)
+def test_all_objectives(
+    objective_id: str,
+    should_cancel: bool,
+    execute_objective_resource: ExecuteObjectiveResource,
+):
+    run_objective(objective_id, should_cancel, execute_objective_resource)

src/grinding_sim/CMakeLists.txt

@@ -25,8 +25,13 @@ install(
 )
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_add_pytest_test(
+          objectives_integration_test test/objectives_integration_test.py
+          TIMEOUT 600
+          ENV MOVEIT_CONFIG_PACKAGE=grinding_sim MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR})
 endif()
 
 ament_package()

src/grinding_sim/package.xml

@@ -20,7 +20,9 @@
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_pro_behavior</exec_depend>
 
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>moveit_pro_test_utils</test_depend>
 
   <test_depend>ament_clang_format</test_depend>
   <test_depend>ament_clang_tidy</test_depend>

src/grinding_sim/test/objectives_integration_test.py

@@ -0,0 +1,54 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import pytest
+from moveit_pro_test_utils.objective_test_fixture import (
+    ExecuteObjectiveResource,
+    execute_objective_resource as execute_objective_resource,
+    get_objective_pytest_params,
+    run_objective,
+)
+
+cancel_objectives = set()
+
+# Objectives requiring user input or perception hardware
+skip_objectives = {
+    "Grind Machined Part",  # Requires admittance control user interaction
+}
+
+
+@pytest.mark.parametrize(
+    "objective_id, should_cancel",
+    get_objective_pytest_params("grinding_sim", cancel_objectives, skip_objectives),
+)
+def test_all_objectives(
+    objective_id: str,
+    should_cancel: bool,
+    execute_objective_resource: ExecuteObjectiveResource,
+):
+    run_objective(objective_id, should_cancel, execute_objective_resource)

src/hangar_sim/CMakeLists.txt

@@ -32,8 +32,13 @@ install(IMPORTED_RUNTIME_ARTIFACTS moveit_studio_plugins::dummy_controller_handl
         lib)
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_add_pytest_test(
+          objectives_integration_test test/objectives_integration_test.py
+          TIMEOUT 600
+          ENV MOVEIT_CONFIG_PACKAGE=hangar_sim MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR})
 endif()
 
 ament_package()

src/hangar_sim/package.xml

@@ -29,7 +29,9 @@
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_force_controller</exec_depend>
 
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>moveit_pro_test_utils</test_depend>
 
   <test_depend>ament_clang_format</test_depend>
   <test_depend>ament_clang_tidy</test_depend>