From f3b0135121a3643f731ed0d8423f946a29444b7c Mon Sep 17 00:00:00 2001
From: Shaur Kumar <shaurkinthewater@gmail.com>
Date: Mon, 8 Jun 2026 13:54:05 -0600
Subject: [PATCH] test(hangar_sim): add objectives integration test

Adds an end-to-end pytest that runs every runnable hangar_sim objective
through /execute_objective and asserts success, cancelling the one
loop-style objective.

Includes the hangar simulation fixes this test depends on (originally
PR #686): standardize the MuJoCo timestep across robot configs and raise
the mecanum wheel velocity-actuator kv (50 -> 500) so the base still
drives at the finer timestep; drop the redundant CI mujoco_ci_timestep
override that injected a duplicate <option> into the scene at build time
and aborted the MuJoCo parse; declare hangar_sim's ridgeback_description
and clearpath_mecanum_drive_controller deps for the scoped CI build.

Skips ML/GPU-ONNX, UI-input, and core-library UI objectives that cannot
run headless, plus two jazzy CI-runner flakes -- "Solution - Draw
Picknik" (90 s execute-timeout boundary whose mid-execution halt
pollutes sim state for the next objective) and "Point-to-Point
Trajectory" (mecanum linear_x_joint nonzero-terminal-velocity controller
reject) -- each with a per-line reason. Warms up the world -> grasp_link
transform once per module so the first Cartesian objective does not race
TF on a cold backend. Registers hangar_sim with the fixture's MuJoCo
reset hook, wires the pytest into CMake and both example_ws CI matrices,
adds the description/control test+exec deps the scoped build needs
(robotiq_description, control_msgs, rclpy, rcl_interfaces, tf2_ros), and
mirrors lab_sim's conftest for per-objective progress + /rosout capture.

Co-Authored-By: Dave Coleman <dave@picknik.ai>
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
---
 .github/workflows/ci.yaml                     |  17 +-
 CLAUDE.md                                     |  10 +
 src/april_tag_sim/description/scene.xml       |   2 +-
 .../description/mujoco/franka3.xml            |   2 +-
 src/factory_sim/description/scene.xml         |   2 +-
 src/grinding_sim/description/scene.xml        |   2 +
 src/hangar_sim/CMakeLists.txt                 |  11 +
 src/hangar_sim/description/hangar_scene.xml   |   9 +-
 src/hangar_sim/description/ur5e_ridgeback.xml |   8 +-
 src/hangar_sim/package.xml                    |   7 +
 src/hangar_sim/test/capture_rosout.py         | 116 ++++++++++
 src/hangar_sim/test/conftest.py               | 112 +++++++++
 .../test/objectives_integration_test.py       | 214 ++++++++++++++++++
 .../description/mujoco/franka3.xml            |   2 +-
 src/lab_sim/description/scene.xml             |   7 +-
 src/lab_sim/description/simple_scene.xml      |   7 +-
 .../test/objectives_integration_test.py       |   2 +-
 src/lunar_sim/mjcf/scene.xml                  |   2 +
 .../description/mujoco/landsat_scene.xml      |   7 +-
 .../mujoco/rafti_fingers_scene.xml            |   1 +
 .../kinova_sim/description/mujoco/scene.xml   |   1 +
 .../description/mujoco/scene.xml              |   2 +-
 .../description/mujoco/scene.xml              |   2 +-
 23 files changed, 521 insertions(+), 24 deletions(-)
 create mode 100644 src/hangar_sim/test/capture_rosout.py
 create mode 100644 src/hangar_sim/test/conftest.py
 create mode 100644 src/hangar_sim/test/objectives_integration_test.py

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 0ac927fa1..1add3fdd9 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -150,8 +150,8 @@ jobs:
       fail-fast: false
       matrix:
         # Stream 2 expands this list one PR at a time as each sim gains a
-        # pytest entry. Today only lab_sim has one.
-        config_package: [lab_sim]
+        # pytest entry.
+        config_package: [lab_sim, hangar_sim]
     permissions:
       # contents: read for checkout; id-token: write so the reusable workflow
       # can assume the LFS S3 cache IAM role via OIDC (moveit_pro_ci v0.5.x).
@@ -172,12 +172,6 @@ jobs:
       # variant, so a pull failure here points at a missing CUDA image, not EGL.
       runner: "picknik-16-amd64-gpu"
       enable_gpu: true
-      # Re-assert MuJoCo timestep on CI as a backstop. Scene files in this repo
-      # are standardized to 0.003s, but this override catches any future scene
-      # whose include chain bypasses that standard, keeping the heavier 3.6.0
-      # constraint solver at-or-under realtime on CI runners. See
-      # PickNikRobotics/moveit_pro#18534 for the underlying flake history.
-      mujoco_ci_timestep: "0.003"
       use_ccache: true
       # Fetch Git LFS through the in-region S3 cache instead of a direct pull.
       # Empty for fork PRs (which get no OIDC token / secrets) so they fall back
@@ -306,7 +300,12 @@ jobs:
         # Keep in sync with `integration-test.matrix.config_package` above and
         # with the reusable workflow's internal ros_distro matrix. Stream 2
         # expands `config_package` per sim; this matrix expands alongside.
-        config_package: [lab_sim]
+        # NOTE: publish-and-comment below is still pinned to lab_sim, so other
+        # sims' reports are produced as artifacts but not yet surfaced in the PR
+        # comment. Merge gating is unaffected (the aggregate `example_ws /
+        # integration` status covers every config_package). Follow-up templates
+        # publish-and-comment over config_package.
+        config_package: [lab_sim, hangar_sim]
         ros_distro: [humble, jazzy]
     steps:
       - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2
diff --git a/CLAUDE.md b/CLAUDE.md
index 754743519..d3e56985b 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -17,6 +17,16 @@ Each joint type contributes to qpos:
 
 After adding or removing bodies with joints, **remove the keyframe** and let MuJoCo use body `pos=` attributes for initial positions.
 
+### Velocity actuators: `armature/kv` time-constant must stay below the timestep
+
+A `<velocity kv="...">` actuator on a joint with `armature="..."` behaves like a first-order servo with time-constant `τ = armature / kv`. If `τ` is larger than the scene `timestep`, the servo cannot inject enough velocity correction per step to overcome external load, and the joint effectively **stops responding to commands** — it stays pinned near zero even at full command. The per-step velocity correction scales as `kv · timestep / armature`, so halving the timestep halves the authority.
+
+This bit `hangar_sim`'s mecanum base: the wheels had `armature="1.0"`, `kv="50"` → `τ = 0.02 s`. It worked only because the timestep was `0.025 s` (above τ). Standardizing the timestep to `0.003 s` dropped it well below τ, the wheel servos lost authority, the wheels pinned at ~0 rad/s, and the base would not drive (the whole-body `ExecuteTrajectory` then hung forever waiting for the base to reach goal). Fix was `kv: 50 → 500` (τ → 0.002 s, below the new timestep), verified in standalone MuJoCo to be stable across `timestep` 0.025→0.002. Lowering `armature` instead also raises authority but went unstable at small timesteps — prefer raising `kv`. (hangar's scene ultimately runs `timestep="0.008"`, coarser than the 0.003 s the other configs use: at 0.003 the CI runner overran ~47% of sim steps and starved controller mode-switching. `kv=500` keeps the wheels valid there too — τ=0.002 s < 0.008 s.)
+
+The two coupled numbers live in different files: the actuator `kv` is in the `<velocity>` blocks of `hangar_sim/description/ur5e_ridgeback.xml` (~line 1709), and the joint `armature` is in the per-wheel includes (`hangar_sim/description/{front,rear}_{left,right}_wheel_link.xml`, the wheel `<joint>`).
+
+Rule of thumb when changing a sim `timestep`: for every velocity actuator, check `armature/kv < timestep`. The symptom of violation is a joint that ignores commands (pinned), not one that oscillates.
+
 ### MuJoCo documentation
 
 Refer to [docs.picknik.ai](https://docs.picknik.ai) for MuJoCo configuration guides:
diff --git a/src/april_tag_sim/description/scene.xml b/src/april_tag_sim/description/scene.xml
index 7d0d71b98..fe5449511 100644
--- a/src/april_tag_sim/description/scene.xml
+++ b/src/april_tag_sim/description/scene.xml
@@ -6,7 +6,7 @@
 
   <compiler angle="radian" autolimits="true" />
 
-  <option integrator="implicitfast" />
+  <option integrator="implicitfast" timestep="0.003" />
 
   <!-- Offscreen buffer must EXACTLY match every non-lidar camera resolution
        (picknik_mujoco_ros cameras.cpp). Single shared buffer for all cameras,
diff --git a/src/dual_arm_sim/description/mujoco/franka3.xml b/src/dual_arm_sim/description/mujoco/franka3.xml
index 42b843914..5d32de87c 100644
--- a/src/dual_arm_sim/description/mujoco/franka3.xml
+++ b/src/dual_arm_sim/description/mujoco/franka3.xml
@@ -1,7 +1,7 @@
 <mujoco model="fr3">
   <compiler angle="radian" meshdir="assets" />
 
-  <option integrator="implicitfast" timestep="0.005" />
+  <option integrator="implicitfast" timestep="0.003" />
 
   <default>
     <default class="fr3">
diff --git a/src/factory_sim/description/scene.xml b/src/factory_sim/description/scene.xml
index 628ddcfab..952d8081c 100644
--- a/src/factory_sim/description/scene.xml
+++ b/src/factory_sim/description/scene.xml
@@ -1,6 +1,6 @@
 <mujoco model="fanuc scene">
   <compiler angle="radian" autolimits="true" />
-  <option integrator="implicitfast" timestep="0.01">
+  <option integrator="implicitfast" timestep="0.003">
     <flag multiccd="enable" override="enable" />
   </option>
 
diff --git a/src/grinding_sim/description/scene.xml b/src/grinding_sim/description/scene.xml
index 59c27a60a..0f490d41d 100644
--- a/src/grinding_sim/description/scene.xml
+++ b/src/grinding_sim/description/scene.xml
@@ -1,6 +1,8 @@
 <mujoco model="ur20 grinding scene">
   <compiler angle="radian" autolimits="true" assetdir="grinding_sim_assets" />
 
+  <option integrator="implicitfast" timestep="0.003" />
+
   <default>
     <!-- Actuator & joint defaults -->
     <joint axis="0 0 1" range="-6.28319 6.28319" armature="0.5" />
diff --git a/src/hangar_sim/CMakeLists.txt b/src/hangar_sim/CMakeLists.txt
index 14a7e1635..694e4a4dc 100644
--- a/src/hangar_sim/CMakeLists.txt
+++ b/src/hangar_sim/CMakeLists.txt
@@ -32,8 +32,19 @@ 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()
+  # Redirect ROS node logs into the test_results tree so the test-results CI
+  # artifact ships them back too. Default would be ~/.ros/log/, which lives
+  # on the doomed container filesystem and never gets uploaded -- making
+  # post-mortem of objective failures impossible.
+  ament_add_pytest_test(
+          objectives_integration_test test/objectives_integration_test.py
+          TIMEOUT 600
+          ENV MOVEIT_CONFIG_PACKAGE=hangar_sim
+              MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR}
+              ROS_LOG_DIR=${CMAKE_CURRENT_BINARY_DIR}/test_results/${PROJECT_NAME}/ros_logs)
 endif()
 
 ament_package()
diff --git a/src/hangar_sim/description/hangar_scene.xml b/src/hangar_sim/description/hangar_scene.xml
index 6629ca677..405962ca5 100644
--- a/src/hangar_sim/description/hangar_scene.xml
+++ b/src/hangar_sim/description/hangar_scene.xml
@@ -5,9 +5,16 @@
   <compiler angle="radian" meshdir="assets" autolimits="true" />
   <include file="ur5e_ridgeback.xml" />
   <include file="hangar.xml" />
+  <!-- hangar runs a heavier stack (nav2 / slam_toolbox / fuse + the mecanum
+       base) than the other configs, so it owns a coarser timestep than the
+       0.003 s standard: at 0.003 the CI runner overruns ~47% of sim steps,
+       which starves controller mode-switching and fails most motion
+       objectives. 0.008 keeps the runner at-or-under realtime while staying
+       finer than the original 0.025. Wheel velocity actuators still hold:
+       armature/kv = 1.0/500 = 0.002 s < 0.008 s (see CLAUDE.md). -->
   <option
     integrator="implicitfast"
-    timestep="0.025"
+    timestep="0.008"
     noslip_iterations="5"
     impratio="20"
     cone="elliptic"
diff --git a/src/hangar_sim/description/ur5e_ridgeback.xml b/src/hangar_sim/description/ur5e_ridgeback.xml
index 2ac746e5f..ff172c76b 100644
--- a/src/hangar_sim/description/ur5e_ridgeback.xml
+++ b/src/hangar_sim/description/ur5e_ridgeback.xml
@@ -1709,25 +1709,25 @@
       name="front_right_wheel"
       joint="front_right_wheel"
       ctrlrange="-15 15"
-      kv="50"
+      kv="500"
     />
     <velocity
       name="front_left_wheel"
       joint="front_left_wheel"
       ctrlrange="-15 15"
-      kv="50"
+      kv="500"
     />
     <velocity
       name="rear_right_wheel"
       joint="rear_right_wheel"
       ctrlrange="-15 15"
-      kv="50"
+      kv="500"
     />
     <velocity
       name="rear_left_wheel"
       joint="rear_left_wheel"
       ctrlrange="-15 15"
-      kv="50"
+      kv="500"
     />
   </actuator>
 
diff --git a/src/hangar_sim/package.xml b/src/hangar_sim/package.xml
index 915787289..5506bca1c 100644
--- a/src/hangar_sim/package.xml
+++ b/src/hangar_sim/package.xml
@@ -16,6 +16,7 @@
   <depend>pluginlib</depend>
 
   <exec_depend>admittance_controller</exec_depend>
+  <exec_depend>clearpath_mecanum_drive_controller</exec_depend>
   <exec_depend>moveit_ros_perception</exec_depend>
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_pro_behavior</exec_depend>
@@ -26,6 +27,8 @@
   <exec_depend>picknik_ur_base_config</exec_depend>
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
+  <exec_depend>ridgeback_description</exec_depend>
+  <exec_depend>robotiq_description</exec_depend>
   <exec_depend>slam_toolbox</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_force_controller</exec_depend>
@@ -39,6 +42,10 @@
   <test_depend>ament_cmake_lint_cmake</test_depend>
   <test_depend>picknik_ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
+  <test_depend>rclpy</test_depend>
+  <test_depend>rcl_interfaces</test_depend>
+  <test_depend>control_msgs</test_depend>
+  <test_depend>tf2_ros</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/src/hangar_sim/test/capture_rosout.py b/src/hangar_sim/test/capture_rosout.py
new file mode 100644
index 000000000..d3526f0f5
--- /dev/null
+++ b/src/hangar_sim/test/capture_rosout.py
@@ -0,0 +1,116 @@
+# 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.
+
+"""Standalone /rosout → NDJSON capture, invoked as a subprocess from
+the sibling conftest.py.
+
+Runs in its own process so no rclpy state lives in the pytest process. The
+integration test's ``execute_objective_resource`` fixture (in
+moveit_pro_test_utils/objective_test_fixture.py) launches the backend via
+``multiprocessing.Process(target=run_launch_files).start()`` — on Linux that
+forks pytest. If pytest has called ``rclpy.init()`` at fork time, the child
+inherits the DDS participant's FDs but not its spinner thread, leaving DDS
+discovery half-initialized; /robot_description then never reaches
+move_group / objective_server_node and BehaviorContext SIGABRTs on boot.
+
+Subscribes to /rosout with the same QoS the rcl logging publisher uses
+(depth=1000, RELIABLE, TRANSIENT_LOCAL, KEEP_LAST). Writes one JSON object
+per line to ``$ROS_LOG_DIR/rosout.ndjson`` (fallback: current dir).
+"""
+
+import json
+import os
+import sys
+import threading
+from pathlib import Path
+
+import rclpy
+from rcl_interfaces.msg import Log
+from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
+
+# Log message severity byte → ROS log level name. Use literal ints rather
+# than `Log.DEBUG` etc. — the message constants are numpy uint8 in some
+# rclpy builds, which hash differently from Python int and miss the dict
+# lookup, leaving levels in the NDJSON as bare numbers like "30".
+_LEVEL_NAMES = {10: "DEBUG", 20: "INFO", 30: "WARN", 40: "ERROR", 50: "FATAL"}
+
+# Match the /rosout publisher's QoS exactly so a late-joining subscriber gets
+# replayed history (TRANSIENT_LOCAL) up to the publisher's depth. ROS 2's rcl
+# logging handler publishes /rosout with depth=1000 / RELIABLE /
+# TRANSIENT_LOCAL / KEEP_LAST. If the subscriber is VOLATILE, no historical
+# replay happens even if the publisher stores history — both ends must opt in.
+_ROSOUT_QOS = QoSProfile(
+    depth=1000,
+    history=HistoryPolicy.KEEP_LAST,
+    reliability=ReliabilityPolicy.RELIABLE,
+    durability=DurabilityPolicy.TRANSIENT_LOCAL,
+)
+
+
+def main() -> int:
+    out_dir = Path(os.environ.get("ROS_LOG_DIR", "."))
+    out_dir.mkdir(parents=True, exist_ok=True)
+    out_path = out_dir / "rosout.ndjson"
+
+    write_lock = threading.Lock()
+
+    rclpy.init()
+    node = rclpy.create_node("test_rosout_capture")
+
+    with open(out_path, "w", encoding="utf-8") as out_file:
+
+        def on_log(msg: Log) -> None:
+            ts = msg.stamp.sec + msg.stamp.nanosec / 1e9
+            entry = {
+                "ts": ts,
+                "level": _LEVEL_NAMES.get(msg.level, str(msg.level)),
+                "node": msg.name,
+                "msg": msg.msg,
+            }
+            with write_lock:
+                out_file.write(json.dumps(entry, ensure_ascii=False) + "\n")
+                out_file.flush()  # don't lose the last lines on a crash
+
+        node.create_subscription(Log, "/rosout", on_log, _ROSOUT_QOS)
+
+        # rclpy.spin returns when SIGINT triggers rclpy.shutdown(); some
+        # rclpy versions surface that as KeyboardInterrupt instead.
+        try:
+            rclpy.spin(node)
+        except KeyboardInterrupt:
+            pass
+        finally:
+            node.destroy_node()
+            if rclpy.ok():
+                rclpy.shutdown()
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/src/hangar_sim/test/conftest.py b/src/hangar_sim/test/conftest.py
new file mode 100644
index 000000000..f1dcdfee0
--- /dev/null
+++ b/src/hangar_sim/test/conftest.py
@@ -0,0 +1,112 @@
+# 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.
+
+"""Live per-objective progress + structured /rosout capture for the
+objectives integration test.
+
+Pytest's default ``--capture=fd`` redirects fds 1 and 2, so when CTest kills
+the test on timeout (TIMEOUT 600 in CMakeLists.txt) all per-test output is
+lost and the CI log shows nothing past pytest's "collected N items" header.
+
+The runtest hooks write directly to fd 2, bypassing the capture, so the CI
+log always shows which objective was running when the timeout fired and how
+long each completed objective took.
+
+The ``capture_rosout`` fixture launches ``capture_rosout.py`` as a
+subprocess so no rclpy state lives in the pytest process. The integration
+test's ``execute_objective_resource`` fixture (in
+moveit_pro_test_utils/objective_test_fixture.py) starts the backend via
+``multiprocessing.Process(target=run_launch_files).start()`` — on Linux
+that forks pytest. Any rclpy.init() called in pytest beforehand leaves the
+forked child with a half-initialized DDS participant (FDs inherited, the
+spinner thread does not survive fork), which breaks /robot_description
+discovery and causes BehaviorContext to SIGABRT on backend boot.
+"""
+
+import os
+import signal
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+import pytest
+
+_started_at: dict[str, float] = {}
+
+
+def pytest_runtest_logstart(nodeid, location):
+    _started_at[nodeid] = time.monotonic()
+    os.write(2, f"  START   {nodeid}\n".encode())
+
+
+def pytest_runtest_logreport(report):
+    if report.when != "call":
+        return
+    nodeid = report.nodeid
+    start = _started_at.get(nodeid)
+    elapsed_str = f"{time.monotonic() - start:.1f}s" if start is not None else "n/a"
+    outcome = report.outcome.upper()  # PASSED / FAILED / SKIPPED
+    line = f"  {outcome:7s} {nodeid} ({elapsed_str})"
+    if report.failed and report.longrepr:
+        reason = str(report.longrepr).splitlines()[-1][:200]
+        line += f"\n    └─ {reason}"
+    os.write(2, (line + "\n").encode())
+
+
+@pytest.fixture(scope="session", autouse=True)
+def capture_rosout():
+    """Run capture_rosout.py as a subprocess to mirror /rosout to NDJSON.
+
+    Subprocess isolation is mandatory — see the module docstring for the
+    fork/DDS interaction that requires it. The subprocess has its own
+    process image, so any rclpy / DDS state it sets up never reaches the
+    pytest process that later gets forked by execute_objective_resource.
+
+    Creates ``$ROS_LOG_DIR`` synchronously here so the directory exists
+    before backend nodes (also writing into it) start, and so the
+    subprocess's first ``mkdir(exist_ok=True)`` has nothing to race on.
+    """
+    out_dir = Path(os.environ.get("ROS_LOG_DIR", "."))
+    out_dir.mkdir(parents=True, exist_ok=True)
+
+    script = Path(__file__).parent / "capture_rosout.py"
+    proc = subprocess.Popen([sys.executable, str(script)])
+
+    try:
+        yield
+    finally:
+        # SIGINT triggers rclpy's default shutdown handler in the
+        # subprocess, which lets the script flush the NDJSON file before
+        # exiting. SIGKILL fallback in case the script wedges.
+        proc.send_signal(signal.SIGINT)
+        try:
+            proc.wait(timeout=10)
+        except subprocess.TimeoutExpired:
+            proc.kill()
+            proc.wait(timeout=5)
diff --git a/src/hangar_sim/test/objectives_integration_test.py b/src/hangar_sim/test/objectives_integration_test.py
new file mode 100644
index 000000000..c25736047
--- /dev/null
+++ b/src/hangar_sim/test/objectives_integration_test.py
@@ -0,0 +1,214 @@
+# Copyright 2025 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.
+
+"""Integration tests for the hangar_sim objective library."""
+
+import time
+
+import pytest
+import rclpy
+import tf2_ros
+from rclpy.time import Time
+from control_msgs.action import GripperCommand
+from moveit_pro_test_utils.objective_test_fixture import (
+    ExecuteObjectiveResource,
+    MUJOCO_RESET_HOOK,
+    MUJOCO_RESET_SERVICE,
+    SIM_RESETTER,
+    execute_objective_resource as execute_objective_resource,
+    get_objective_pytest_params,
+    reset_simulation_before_test as reset_simulation_before_test,
+    run_objective,
+    wait_for_action_servers,
+    wait_for_services,
+)
+
+# hangar_sim is MuJoCo-backed (declares a mujoco_model), so it advertises
+# /mujoco_system/reset_keyframe. Register it with the fixture's reset hook here
+# -- the fixture documents this module as the per-sim fan-out point -- so the
+# autouse reset_simulation_before_test fixture resets the keyframe between
+# objectives. Registering here keeps this an example_ws-only change instead of
+# editing the fixture's built-in defaults in moveit_pro.
+SIM_RESETTER.register("hangar_sim", MUJOCO_RESET_HOOK)
+
+# Loop-style objectives cancelled mid-execution rather than waited to
+# completion. "Plan Path Along Surface - Loop" wraps the surface-following
+# sequence in KeepRunningUntilFailure, so it never terminates on its own.
+#
+# NOTE (jazzy watch-item): this objective ticks SendPointCloudToUI. If the
+# first dispatched CI run reproduces the jazzy `pcl::fromPCLPointCloud2: No
+# data to copy` crash, move this entry to skip_objectives and cite the
+# PR #19531 subscriber-gated render-skip follow-up.
+cancel_objectives = {
+    "Plan Path Along Surface - Loop",
+}
+
+# Objectives skipped entirely, each with the reason it cannot run headless in
+# CI. The non-runnable objectives (runnable="false" in their MetadataFields)
+# are filtered out by the fixture and need not be listed here.
+skip_objectives = {
+    # ML segmentation / grasp pipelines: ONNX inference runs on CPU in CI
+    # (the GPU runner backs MuJoCo's EGL render only), so these time out --
+    # same class lab_sim skips for the same reason.
+    "ML Move Boxes to Loading Zone",
+    "Move Boxes Looping",  # KeepRunningUntilFailure loop over the ML pick pipeline above.
+    "Segment Image from Point",
+    "Segment Image from Text Prompt",
+    "Segment Point Cloud from Clicked Point",
+    # User input required: no primary UI is attached in headless CI, so these
+    # block on a pose-from-user prompt or an MTC-solution/path approval that
+    # never arrives.
+    "Navigate to Clicked Point",  # GetPoseFromUser + WaitForUserPathApproval.
+    "Navigate to Clicked Point with Replanning",  # GetPoseFromUser.
+    "Find and Spray Plane",  # Ungated WaitForMTCSolutionApproval.
+    "Solution - Find and Spray Plane",  # Ungated WaitForMTCSolutionApproval.
+    "Solution - Spray Plane",  # Ungated WaitForMTCSolutionApproval.
+    # ValidateTrajectory rejects the intentionally-colliding demo path, so the
+    # tree falls back to WaitForMTCSolutionApproval, which blocks headless.
+    "Cartesian Path with Collision Checking",
+    # IsUserAvailable returns FAILURE headless, so its top-level Sequence
+    # fails before reaching WaitForMTCSolutionApproval.
+    "Solution - Draw Square",
+    "Cartesian Plan Simple Square",
+    # Core-library objectives (moveit_pro_objectives) aggregated into every
+    # config. Both need a primary UI and are skipped by lab_sim for the same
+    # reasons.
+    "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
+    "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
+    # Jazzy CI-runner flakes (pass on the slower humble runner, intermittent on
+    # jazzy). Skipped so the suite is deterministic on both distros.
+    #
+    # "Solution - Draw Picknik" is the suite's longest objective and sits on
+    # the 90 s execute-timeout boundary on the jazzy runner. When it overruns,
+    # the mid-execution halt leaves the joint_trajectory_controller commanding
+    # the interrupted draw pose; the 5 s inter-test reset cannot recover it, so
+    # the next objectives plan from a self-colliding start. Skipping removes the
+    # timeout flake and its downstream sim-state pollution.
+    "Solution - Draw Picknik",
+    # "Point-to-Point Trajectory" interpolates to the "Arm Forward" waypoint on
+    # joint_trajectory_controller, which also owns the mecanum linear_x_joint
+    # (config/control/picknik_ur.ros2_control.yaml). The interpolated terminal
+    # velocity carries a floating-point residual (~3.8e-7) that the controller's
+    # nonzero-terminal-velocity validation intermittently rejects ("Velocity of
+    # last trajectory point of joint linear_x_joint is not zero"). Real
+    # controller/interpolation bug, not a test issue -- skip pending that fix.
+    "Point-to-Point Trajectory",
+}
+
+# Action servers the hangar_sim tree types need before any objective runs.
+# hangar_sim drives a vacuum gripper through ros2_control's
+# GripperActionController (config/control/picknik_ur.ros2_control.yaml), which
+# advertises this GripperCommand action once control comes up.
+required_action_servers: list[tuple[type, str]] = [
+    (GripperCommand, "/vacuum_gripper/gripper_cmd"),
+]
+
+
+@pytest.fixture(scope="module", autouse=True)
+def wait_for_mujoco_reset_service(
+    execute_objective_resource: ExecuteObjectiveResource,
+) -> None:
+    """Block until the MuJoCo reset service is advertised, once per module.
+
+    hangar_sim's startup is heavy (ridgeback base + nav2 + the full controller
+    set + a large scene), so ``/mujoco_system/reset_keyframe`` comes up well
+    after the agent heartbeat that gates ``execute_objective_resource``. The
+    autouse ``reset_simulation_before_test`` hook only allows a 5 s budget per
+    test, which the first reset blows in CI. This module-scoped fixture runs
+    before any per-test reset and warms the service up with a generous timeout,
+    so each per-test reset then finds it immediately.
+    """
+    wait_for_services(
+        execute_objective_resource.node, [MUJOCO_RESET_SERVICE], timeout_sec=120.0
+    )
+
+
+# Fixed and end-effector frames the Cartesian objectives visualize and plan
+# against (VisualizePose / PlanCartesianPath look up TF_FIXED_FRAME ->
+# TF_TIP_FRAME).
+TF_FIXED_FRAME = "world"
+TF_TIP_FRAME = "grasp_link"
+TF_WARMUP_TIMEOUT_S = 120.0
+
+
+@pytest.fixture(scope="module", autouse=True)
+def wait_for_robot_tf(
+    execute_objective_resource: ExecuteObjectiveResource,
+) -> None:
+    """Block until ``world -> grasp_link`` is on ``/tf``, once per module.
+
+    ``grasp_link``'s transform only appears after robot_state_publisher and the
+    arm controllers start streaming joint states, which lags the agent
+    heartbeat on a cold backend. The Cartesian objectives look it up
+    immediately, so on the slower jazzy runner the first one
+    (``cartesian_draw_geometry_from_file``) raced TF and failed with "Cannot
+    find transform between frames ``world`` and ``grasp_link``". Spinning a
+    short-lived listener until the transform resolves removes that startup race
+    without masking the objective.
+    """
+    node = execute_objective_resource.node
+    buffer = tf2_ros.Buffer()
+    # spin_thread=False: we pump the node manually below, matching the rest of
+    # the fixture's single-threaded spin model (no background TF thread).
+    tf2_ros.TransformListener(buffer, node, spin_thread=False)
+    deadline = time.monotonic() + TF_WARMUP_TIMEOUT_S
+    while time.monotonic() < deadline:
+        rclpy.spin_once(node, timeout_sec=0.1)
+        if buffer.can_transform(TF_FIXED_FRAME, TF_TIP_FRAME, Time()):
+            return
+    pytest.fail(
+        f"{TF_FIXED_FRAME} -> {TF_TIP_FRAME} transform not available within "
+        f"{TF_WARMUP_TIMEOUT_S:.1f}s; cannot run Cartesian objectives."
+    )
+
+
+@pytest.mark.parametrize(
+    "objective_id, should_cancel",
+    get_objective_pytest_params("hangar_sim", cancel_objectives, skip_objectives),
+)
+def test_all_objectives(
+    objective_id: str,
+    should_cancel: bool,
+    execute_objective_resource: ExecuteObjectiveResource,
+):
+    """Run (or cancel) each hangar_sim objective and assert it completes without error."""
+    wait_for_action_servers(
+        execute_objective_resource.node,
+        [name for _, name in required_action_servers],
+    )
+    try:
+        run_objective(objective_id, should_cancel, execute_objective_resource)
+    except AssertionError as e:
+        mode = "cancel" if should_cancel else "execute"
+        pytest.fail(f"Objective '{objective_id}' failed to {mode}: {e}")
+    except Exception as e:
+        mode = "cancel" if should_cancel else "execute"
+        pytest.fail(
+            f"Objective '{objective_id}' hit an unexpected error during {mode}: "
+            f"{type(e).__name__}: {e}"
+        )
diff --git a/src/kitchen_sim/description/mujoco/franka3.xml b/src/kitchen_sim/description/mujoco/franka3.xml
index 4669d948c..056b13b86 100644
--- a/src/kitchen_sim/description/mujoco/franka3.xml
+++ b/src/kitchen_sim/description/mujoco/franka3.xml
@@ -1,7 +1,7 @@
 <mujoco model="fr3">
   <compiler angle="radian" meshdir="assets" />
 
-  <option integrator="implicitfast" timestep="0.005" />
+  <option integrator="implicitfast" timestep="0.003" />
 
   <default>
     <default class="fr3">
diff --git a/src/lab_sim/description/scene.xml b/src/lab_sim/description/scene.xml
index 85bfa34c6..1d5c4a552 100644
--- a/src/lab_sim/description/scene.xml
+++ b/src/lab_sim/description/scene.xml
@@ -6,7 +6,12 @@
 
   <compiler angle="radian" autolimits="true" />
 
-  <option integrator="implicitfast" impratio="10" noslip_iterations="3" />
+  <option
+    integrator="implicitfast"
+    timestep="0.003"
+    impratio="10"
+    noslip_iterations="3"
+  />
 
   <!-- nuser_cam=1 enables per-camera user params: 0=RGB+Depth, 1=RGB-only, 2=3D-lidar -->
   <!-- memory: arena size for contacts/constraints. MuJoCo 3.3+ stopped growing the arena
diff --git a/src/lab_sim/description/simple_scene.xml b/src/lab_sim/description/simple_scene.xml
index 5a84de103..02033afba 100644
--- a/src/lab_sim/description/simple_scene.xml
+++ b/src/lab_sim/description/simple_scene.xml
@@ -3,7 +3,12 @@
   <include file="ur5e/ur5e_linear_rail_globals.xml" />
   <include file="robotiq_2f85/robotiq2f85_globals.xml" />
   <compiler angle="radian" autolimits="true" />
-  <option integrator="implicitfast" />
+  <!-- timestep pins this top-level MPC scene to the 0.003 s standard. Required
+       now that the mujoco_ci_timestep CI override (which used to coarsen every
+       scene at build time) is gone: the JTAC/MPC compliance loop flakes when the
+       sim falls under realtime, and this scene is loaded by three non-skipped
+       mpc_pose_tracking objectives in the lab_sim integration test. -->
+  <option integrator="implicitfast" timestep="0.003" />
   <!-- Offscreen buffer must EXACTLY match every non-lidar camera resolution
        (cameras.cpp). This scene pulls in wrist_camera (1280x720) via the ur5e
        include, so the global must be 1280x720 too. Without it the buffer defaults
diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py
index af274bcce..9a980a059 100644
--- a/src/lab_sim/test/objectives_integration_test.py
+++ b/src/lab_sim/test/objectives_integration_test.py
@@ -73,7 +73,7 @@
     "Place Object",
     # Flaky on CI after the MuJoCo 3.2.7 -> 3.6.0 upgrade: the JTAC compliance loop
     # is sensitive to the simulator falling under realtime, and we see ~50% flake
-    # rate even with mujoco_ci_timestep coarsening and CPU pinning. See PR #615.
+    # rate even with the 0.003 s scene timestep and CPU pinning. See PR #615.
     "Push Button With a Trajectory",
     "Record Square Trajectory",
     "Scan Scene - Multiple Point Clouds",
diff --git a/src/lunar_sim/mjcf/scene.xml b/src/lunar_sim/mjcf/scene.xml
index 199a2288e..0c5e5a476 100644
--- a/src/lunar_sim/mjcf/scene.xml
+++ b/src/lunar_sim/mjcf/scene.xml
@@ -1,4 +1,6 @@
 <mujoco model="lunar sim scene">
+  <option integrator="implicitfast" timestep="0.003" />
+
   <default>
     <default class="visual">
       <geom
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
index 011a7597c..695f4f9c0 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
@@ -1,6 +1,11 @@
 <mujoco model="kinova scene">
   <include file="gen3_7dof.xml" />
-  <option gravity="0 0 0" />
+  <!-- MuJoCo merges these three <option> blocks: timestep=0.003 (the standard),
+       gravity off, multiccd on, and integrator=implicit. The implicit integrator
+       (not the implicitfast used elsewhere) is intentional for the free-floating
+       zero-g satellite. Keep timestep on this first block; editing a later block
+       must not redeclare/clobber it. -->
+  <option timestep="0.003" gravity="0 0 0" />
   <option>
     <flag multiccd="enable" />
   </option>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
index cc96f9f3e..d6b97f2ca 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
@@ -1,4 +1,5 @@
 <mujoco model="kinova scene">
+  <option timestep="0.003" />
   <include file="gen3_7dof_rafti_fingers.xml" />
   <statistic center="0.3 0 0.4" extent="1" />
   <default>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
index f38b77d1f..c284eb388 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
@@ -1,5 +1,6 @@
 <mujoco model="kinova scene">
   <include file="gen3_7dof.xml" />
+  <option timestep="0.003" />
   <statistic center="0.3 0 0.4" extent="1" />
   <default>
     <geom solref=".004 1" />
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
index f6e3222a9..c8601ae28 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
@@ -1,6 +1,6 @@
 <mujoco model="space satellite scene">
   <compiler angle="radian" meshdir="assets" />
-  <option integrator="implicitfast" gravity="0 0 0" />
+  <option integrator="implicitfast" timestep="0.003" gravity="0 0 0" />
 
   <include file="gen3_7dof_assets.xml" />
 
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
index 8937a0172..ad9574167 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
@@ -1,6 +1,6 @@
 <mujoco model="space satellite scene">
   <compiler angle="radian" meshdir="assets" />
-  <option integrator="implicitfast" gravity="0 0 0" />
+  <option integrator="implicitfast" timestep="0.003" gravity="0 0 0" />
 
   <include file="gen3_7dof_assets.xml" />