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Add SAM2 automasking ModelPool bundle manifest for factory_sim #831

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Add SAM2 automasking ModelPool bundle manifest for factory_sim #831

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10 changes: 10 additions & 0 deletions src/factory_sim/models/sam2_automask_bundle.yaml
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@@ -0,0 +1,10 @@
schema_version: 1
model_id: sam2_automask
model_version: sam2.1_hiera_l
graph_abi: moveit_pro.sam2_automask.v1
runtimes:
onnxruntime:
image_encoder: {path: sam2.1_hiera_l_image_encoder.onnx, sha256: cbdbe1e1ad3b616985d0f9c071a5948f8f8342d8e55e98857159405678b70cec}
prompt_encoder: {path: sam2.1_prompt_encoder.onnx, sha256: eb2130a99f74bb2f6a430c0f1fe6af291b45ead4bf0beee715330c3def901206}
decoder: {path: sam2.1_decoder.onnx, sha256: e11609a8d694f2186f5974cf0d86e1588dbbb126088c4a7849adbc546b284e3a}
metadata: {input_size: "1024"}
5 changes: 2 additions & 3 deletions src/factory_sim/objectives/automask_camera_iterate_masks.xml
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Expand Up @@ -14,9 +14,8 @@
mask_count="{mask_count}"
masks2d="{masks2d}"
score_threshold="0.800000"
decoder_model_path="models/sam2.1_decoder.onnx"
encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx"
prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx"
model_bundle_manifest="models/sam2_automask_bundle.yaml"
runtime_id="onnxruntime"
nms_threshold="0.3"
model_package="factory_sim"
min_component_area="2000"
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5 changes: 2 additions & 3 deletions src/factory_sim/objectives/automask_from_camera.xml
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Expand Up @@ -22,9 +22,8 @@
min_component_area="2000"
nms_threshold="0.200000"
score_threshold="0.8"
decoder_model_path="models/sam2.1_decoder.onnx"
encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx"
prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx"
model_bundle_manifest="models/sam2_automask_bundle.yaml"
runtime_id="onnxruntime"
model_package="factory_sim"
/>
<Action
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5 changes: 2 additions & 3 deletions src/factory_sim/objectives/automask_from_file.xml
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Expand Up @@ -19,9 +19,8 @@
mask_count="{mask_count}"
masks2d="{masks2d}"
score_threshold="0.500000"
decoder_model_path="models/sam2.1_decoder.onnx"
encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx"
prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx"
model_bundle_manifest="models/sam2_automask_bundle.yaml"
runtime_id="onnxruntime"
model_package="factory_sim"
nms_threshold="0.3"
min_component_area="200"
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