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Switch SAM3 Objectives to the model bundle manifest #802

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Switch SAM3 Objectives to the model bundle manifest #802

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1152e6c
feat: switch SAM3 objectives to the model bundle manifest
griswaldbrooks Jul 23, 2026
df2dd26
chore: pin moveit_pro_sam3 to the rebased bundle-manifest commit
griswaldbrooks Jul 29, 2026
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21 changes: 1 addition & 20 deletions src/dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
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Expand Up @@ -19,10 +19,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="{model_package}"
encoder_model_path="{encoder_model_path}"
decoder_model_path="{decoder_model_path}"
geometry_encoder_model_path="{geometry_encoder_model_path}"
text_encoder_model_path="{text_encoder_model_path}"
model_bundle_manifest="models/model.yaml"
confidence_threshold="{confidence_threshold}"
target_image="{image}"
text_prompt="{text_prompt}"
Expand All @@ -45,29 +42,13 @@
<Metadata subcategory="Perception - ML" />
</MetadataFields>
<inout_port name="confidence_threshold" default="0.5" />
<inout_port
name="decoder_model_path"
default="models/sam3_decoder.onnx"
/>
<inout_port
name="encoder_model_path"
default="models/sam3_vision_encoder.onnx"
/>
<inout_port
name="geometry_encoder_model_path"
default="models/sam3_geometry_encoder.onnx"
/>
<inout_port name="image_topic_name" default="{image_topic_name}" />
<inout_port
name="masks_visualization_topic"
default="/masks_visualization"
/>
<inout_port name="masks2d" default="{masks2d}" />
<inout_port name="model_package" default="moveit_pro_sam3" />
<inout_port
name="text_encoder_model_path"
default="models/sam3_text_encoder.onnx"
/>
<inout_port name="text_prompt" default="{text_prompt}" />
</SubTree>
</TreeNodesModel>
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20 changes: 0 additions & 20 deletions src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml
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Expand Up @@ -25,10 +25,6 @@
_collapsed="true"
masks_visualization_topic="{masks_visualization_topic}"
model_package="{model_package}"
encoder_model_path="{encoder_model_path}"
decoder_model_path="{decoder_model_path}"
geometry_encoder_model_path="{geometry_encoder_model_path}"
text_encoder_model_path="{text_encoder_model_path}"
text_prompt="{text_prompt}"
confidence_threshold="{confidence_threshold}"
image_topic_name="{image_topic_name}"
Expand Down Expand Up @@ -86,18 +82,6 @@
default="/wrist_camera/camera_info"
/>
<inout_port name="confidence_threshold" default="0.5" />
<inout_port
name="decoder_model_path"
default="models/sam3_decoder.onnx"
/>
<inout_port
name="encoder_model_path"
default="models/sam3_vision_encoder.onnx"
/>
<inout_port
name="geometry_encoder_model_path"
default="models/sam3_geometry_encoder.onnx"
/>
<inout_port name="image_topic_name" default="/wrist_camera/color" />
<inout_port
name="masks_visualization_topic"
Expand All @@ -108,10 +92,6 @@
<inout_port name="point_cloud" default="{point_cloud}" />
<inout_port name="point_cloud_vector" default="{point_cloud_vector}" />
<inout_port name="points_topic_name" default="/wrist_camera/points" />
<inout_port
name="text_encoder_model_path"
default="models/sam3_text_encoder.onnx"
/>
<inout_port name="text_prompt" default="{text_prompt}" />
<inout_port name="use_latest_transform" default="false" />
</SubTree>
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5 changes: 1 addition & 4 deletions src/hangar_sim/objectives/calibrate_sam3_mask_areas.xml
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Expand Up @@ -39,10 +39,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="moveit_pro_sam3"
encoder_model_path="models/sam3_vision_encoder.onnx"
decoder_model_path="models/sam3_decoder.onnx"
geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
text_encoder_model_path="models/sam3_text_encoder.onnx"
model_bundle_manifest="models/model.yaml"
confidence_threshold="{threshold}"
target_image="{image}"
text_prompt="{prompt}"
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5 changes: 1 addition & 4 deletions src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
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Expand Up @@ -108,10 +108,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="moveit_pro_sam3"
encoder_model_path="models/sam3_vision_encoder.onnx"
decoder_model_path="models/sam3_decoder.onnx"
geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
text_encoder_model_path="models/sam3_text_encoder.onnx"
model_bundle_manifest="models/model.yaml"
confidence_threshold="{confidence_threshold}"
target_image="{image}"
text_prompt="{text_prompt}"
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5 changes: 1 addition & 4 deletions src/kitchen_sim/objectives/segment_image_from_prompt.xml
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Expand Up @@ -17,10 +17,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="moveit_pro_sam3"
encoder_model_path="models/sam3_vision_encoder.onnx"
decoder_model_path="models/sam3_decoder.onnx"
geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
text_encoder_model_path="models/sam3_text_encoder.onnx"
model_bundle_manifest="models/model.yaml"
confidence_threshold="0.5"
target_image="{image}"
text_prompt="a stove circular burner"
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5 changes: 1 addition & 4 deletions src/lab_sim/objectives/ml_find_bottles_on_table_from_image_exemplar.xml
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Expand Up @@ -31,10 +31,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="moveit_pro_sam3"
encoder_model_path="models/sam3_vision_encoder.onnx"
decoder_model_path="models/sam3_decoder.onnx"
geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
text_encoder_model_path="models/sam3_text_encoder.onnx"
model_bundle_manifest="models/model.yaml"
confidence_threshold="0.6"
confidence_scores_str="{confidence_scores_str}"
target_image="{wrist_camera_image}"
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5 changes: 1 addition & 4 deletions src/lab_sim/objectives/ml_segment_bottles_from_file.xml
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Expand Up @@ -14,10 +14,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="moveit_pro_sam3"
encoder_model_path="models/sam3_vision_encoder.onnx"
decoder_model_path="models/sam3_decoder.onnx"
geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
text_encoder_model_path="models/sam3_text_encoder.onnx"
model_bundle_manifest="models/model.yaml"
confidence_threshold="0.5"
confidence_scores_str="{confidence_scores_str}"
target_image="{image}"
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5 changes: 1 addition & 4 deletions src/lab_sim/objectives/segment_bottle_subtree.xml
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Expand Up @@ -60,14 +60,11 @@
confidence_scores="{confidence_scores}"
target_image="{image}"
text_prompt="{object_prompt}"
geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
confidence_scores_str="{confidence_scores_str}"
mask_count="{mask_count}"
masks2d="{refined_masks}"
confidence_threshold="0.5"
text_encoder_model_path="models/sam3_text_encoder.onnx"
encoder_model_path="models/sam3_vision_encoder.onnx"
decoder_model_path="models/sam3_decoder.onnx"
model_bundle_manifest="models/model.yaml"
model_package="moveit_pro_sam3"
exemplar_image="{exemplar_image}"
target_bboxes="{target_bboxes}"
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21 changes: 1 addition & 20 deletions ...figs/franka_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
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Expand Up @@ -19,10 +19,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="{model_package}"
encoder_model_path="{encoder_model_path}"
decoder_model_path="{decoder_model_path}"
geometry_encoder_model_path="{geometry_encoder_model_path}"
text_encoder_model_path="{text_encoder_model_path}"
model_bundle_manifest="models/model.yaml"
confidence_threshold="{confidence_threshold}"
target_image="{image}"
text_prompt="{text_prompt}"
Expand All @@ -45,29 +42,13 @@
<Metadata subcategory="Perception - ML" />
</MetadataFields>
<inout_port name="confidence_threshold" default="0.5" />
<inout_port
name="decoder_model_path"
default="models/sam3_decoder.onnx"
/>
<inout_port
name="encoder_model_path"
default="models/sam3_vision_encoder.onnx"
/>
<inout_port
name="geometry_encoder_model_path"
default="models/sam3_geometry_encoder.onnx"
/>
<inout_port name="image_topic_name" default="{image_topic_name}" />
<inout_port
name="masks_visualization_topic"
default="/masks_visualization"
/>
<inout_port name="masks2d" default="{masks2d}" />
<inout_port name="model_package" default="moveit_pro_sam3" />
<inout_port
name="text_encoder_model_path"
default="models/sam3_text_encoder.onnx"
/>
<inout_port name="text_prompt" default="{text_prompt}" />
</SubTree>
</TreeNodesModel>
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2 changes: 1 addition & 1 deletion src/moveit_pro_sam3
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Submodule moveit_pro_sam3 updated 7 files
+19 −0 CMakeLists.txt
+3 −5 CONTRIBUTING.md
+61 −29 LICENSE
+29 −0 LICENSE.build
+30 −2 README.md
+22 −0 models/model.yaml
+2 −1 package.xml
21 changes: 1 addition & 20 deletions .../picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
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Expand Up @@ -19,10 +19,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="{model_package}"
encoder_model_path="{encoder_model_path}"
decoder_model_path="{decoder_model_path}"
geometry_encoder_model_path="{geometry_encoder_model_path}"
text_encoder_model_path="{text_encoder_model_path}"
model_bundle_manifest="models/model.yaml"
confidence_threshold="{confidence_threshold}"
target_image="{image}"
text_prompt="{text_prompt}"
Expand All @@ -45,29 +42,13 @@
<Metadata subcategory="Perception - ML" />
</MetadataFields>
<inout_port name="confidence_threshold" default="0.5" />
<inout_port
name="decoder_model_path"
default="models/sam3_decoder.onnx"
/>
<inout_port
name="encoder_model_path"
default="models/sam3_vision_encoder.onnx"
/>
<inout_port
name="geometry_encoder_model_path"
default="models/sam3_geometry_encoder.onnx"
/>
<inout_port name="image_topic_name" default="{image_topic_name}" />
<inout_port
name="masks_visualization_topic"
default="/masks_visualization"
/>
<inout_port name="masks2d" default="{masks2d}" />
<inout_port name="model_package" default="moveit_pro_sam3" />
<inout_port
name="text_encoder_model_path"
default="models/sam3_text_encoder.onnx"
/>
<inout_port name="text_prompt" default="{text_prompt}" />
</SubTree>
</TreeNodesModel>
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21 changes: 1 addition & 20 deletions ...o_ur_configs/picknik_ur_base_config/objectives/segment_image_from_text_prompt_subtree.xml
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Expand Up @@ -19,10 +19,7 @@
<Action
ID="GetMasks2DFromExemplar"
model_package="{model_package}"
encoder_model_path="{encoder_model_path}"
decoder_model_path="{decoder_model_path}"
geometry_encoder_model_path="{geometry_encoder_model_path}"
text_encoder_model_path="{text_encoder_model_path}"
model_bundle_manifest="models/model.yaml"
confidence_threshold="{confidence_threshold}"
target_image="{image}"
text_prompt="{text_prompt}"
Expand All @@ -43,29 +40,13 @@
<Metadata subcategory="Perception - ML" />
</MetadataFields>
<inout_port name="confidence_threshold" default="0.5" />
<inout_port
name="decoder_model_path"
default="models/sam3_decoder.onnx"
/>
<inout_port
name="encoder_model_path"
default="models/sam3_vision_encoder.onnx"
/>
<inout_port
name="geometry_encoder_model_path"
default="models/sam3_geometry_encoder.onnx"
/>
<inout_port name="image_topic_name" default="{image_topic_name}" />
<inout_port
name="masks_visualization_topic"
default="/masks_visualization"
/>
<inout_port name="masks2d" default="{masks2d}" />
<inout_port name="model_package" default="moveit_pro_sam3" />
<inout_port
name="text_encoder_model_path"
default="models/sam3_text_encoder.onnx"
/>
<inout_port name="text_prompt" default="{text_prompt}" />
</SubTree>
</TreeNodesModel>
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20 changes: 0 additions & 20 deletions ...onfigs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml
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Expand Up @@ -25,10 +25,6 @@
_collapsed="true"
masks_visualization_topic="{masks_visualization_topic}"
model_package="{model_package}"
encoder_model_path="{encoder_model_path}"
decoder_model_path="{decoder_model_path}"
geometry_encoder_model_path="{geometry_encoder_model_path}"
text_encoder_model_path="{text_encoder_model_path}"
text_prompt="{text_prompt}"
confidence_threshold="{confidence_threshold}"
image_topic_name="{image_topic_name}"
Expand Down Expand Up @@ -85,18 +81,6 @@
default="/wrist_camera/camera_info"
/>
<inout_port name="confidence_threshold" default="0.5" />
<inout_port
name="decoder_model_path"
default="models/sam3_decoder.onnx"
/>
<inout_port
name="encoder_model_path"
default="models/sam3_vision_encoder.onnx"
/>
<inout_port
name="geometry_encoder_model_path"
default="models/sam3_geometry_encoder.onnx"
/>
<inout_port name="image_topic_name" default="/wrist_camera/color" />
<inout_port
name="masks_visualization_topic"
Expand All @@ -107,10 +91,6 @@
<inout_port name="point_cloud" default="{point_cloud}" />
<inout_port name="point_cloud_vector" default="{point_cloud_vector}" />
<inout_port name="points_topic_name" default="/wrist_camera/points" />
<inout_port
name="text_encoder_model_path"
default="models/sam3_text_encoder.onnx"
/>
<inout_port name="text_prompt" default="{text_prompt}" />
</SubTree>
</TreeNodesModel>
Expand Down
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