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Switch SAM2 point-query Objectives to the model bundle manifest #833

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Switch SAM2 point-query Objectives to the model bundle manifest #833

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4 changes: 2 additions & 2 deletions src/hangar_sim/objectives/segment_image_from_point.xml
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Expand Up @@ -10,8 +10,8 @@
<SubTree
ID="Segment Image from Point Subtree"
_collapsed="true"
decoder_model_path="models/sam2_decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_bundle_manifest="models/model.yaml"
runtime_id="onnxruntime"
image_topic_name="/wrist_camera/color"
masks_visualization_topic="/masks_visualization"
model_package="moveit_pro_sam2"
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4 changes: 2 additions & 2 deletions src/hangar_sim/objectives/segment_point_cloud_from_clicked_point.xml
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Expand Up @@ -13,8 +13,8 @@
<SubTree
ID="Segment Point Cloud from Clicked Point Subtree"
camera_topic_name="/wrist_camera/camera_info"
decoder_model_path="models/sam2_decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_bundle_manifest="models/model.yaml"
runtime_id="onnxruntime"
image_topic_name="/wrist_camera/color"
masks_visualization_topic="/masks_visualization"
model_package="moveit_pro_sam2"
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4 changes: 2 additions & 2 deletions src/kitchen_sim/objectives/generate_graspable_object.xml
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Expand Up @@ -27,8 +27,8 @@
image="{image}"
masks2d="{masks2d}"
pixel_coords="{pixel_coords}"
decoder_model_path="models/sam2_decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_bundle_manifest="models/model.yaml"
runtime_id="onnxruntime"
model_package="moveit_pro_sam2"
/>
<Action
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4 changes: 2 additions & 2 deletions src/kitchen_sim/objectives/grasp_object_from_point.xml
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Expand Up @@ -26,8 +26,8 @@
image="{image}"
masks2d="{masks2d}"
pixel_coords="{pixel_coords}"
decoder_model_path="models/sam2_decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_bundle_manifest="models/model.yaml"
runtime_id="onnxruntime"
model_package="moveit_pro_sam2"
/>
<Action
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4 changes: 2 additions & 2 deletions src/kitchen_sim/objectives/segment_image_from_point.xml
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Expand Up @@ -24,8 +24,8 @@
image="{image}"
masks2d="{masks2d}"
pixel_coords="{pixel_coords}"
decoder_model_path="models/sam2_decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_bundle_manifest="models/model.yaml"
runtime_id="onnxruntime"
model_package="moveit_pro_sam2"
/>
<Action
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4 changes: 2 additions & 2 deletions src/kitchen_sim/objectives/segment_point_cloud_from_point.xml
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Expand Up @@ -25,8 +25,8 @@
image="{image}"
masks2d="{masks2d}"
pixel_coords="{pixel_coords}"
decoder_model_path="models/sam2_decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_bundle_manifest="models/model.yaml"
runtime_id="onnxruntime"
model_package="moveit_pro_sam2"
/>
<Action
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4 changes: 2 additions & 2 deletions src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml
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Expand Up @@ -14,8 +14,8 @@
ID="Segment Point Cloud from Clicked Point Subtree"
_collapsed="true"
camera_topic_name="/wrist_camera/camera_info"
decoder_model_path="models/sam2_decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_bundle_manifest="models/model.yaml"
runtime_id="onnxruntime"
image_topic_name="/wrist_camera/color"
masks_visualization_topic="/masks_visualization"
model_package="moveit_pro_sam2"
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18 changes: 6 additions & 12 deletions ...eit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_point_subtree.xml
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Expand Up @@ -5,8 +5,8 @@
ID="Segment Image from Point Subtree"
_description="Captures an image and segments it using three user provided prompt points."
_favorite="false"
decoder_model_path="models/sam2_decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_bundle_manifest="models/model.yaml"
runtime_id="onnxruntime"
image_topic_name="/wrist_camera/color"
masks_visualization_topic="/masks_visualization"
model_package="moveit_pro_sam2"
Expand All @@ -32,8 +32,8 @@
image="{image}"
pixel_coords="{pixel_coords}"
masks2d="{masks2d}"
decoder_model_path="{decoder_model_path}"
encoder_model_path="{encoder_model_path}"
model_bundle_manifest="{model_bundle_manifest}"
runtime_id="{runtime_id}"
model_package="{model_package}"
/>
<Action
Expand All @@ -51,14 +51,8 @@
<Metadata runnable="false" />
<Metadata subcategory="Perception - ML" />
</MetadataFields>
<inout_port
name="decoder_model_path"
default="models/sam2_decoder.onnx"
/>
<inout_port
name="encoder_model_path"
default="models/sam2_hiera_large_encoder.onnx"
/>
<inout_port name="model_bundle_manifest" default="models/model.yaml" />
<inout_port name="runtime_id" default="onnxruntime" />
<inout_port name="image_topic_name" default="/wrist_camera/color" />
<inout_port
name="masks_visualization_topic"
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15 changes: 9 additions & 6 deletions ...figs/picknik_ur_base_config/objectives/segment_point_cloud_from_clicked_point_subtree.xml
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Expand Up @@ -9,8 +9,8 @@
_description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
_favorite="false"
camera_topic_name="{camera_topic_name}"
decoder_model_path="{decoder_model_path}"
encoder_model_path="{encoder_model_path}"
model_bundle_manifest="{model_bundle_manifest}"
runtime_id="{runtime_id}"
image_topic_name="{image_topic_name}"
masks_visualization_topic="{masks_visualization_topic}"
model_package="{model_package}"
Expand All @@ -21,8 +21,8 @@
<SubTree
ID="Segment Image from Point Subtree"
_collapsed="true"
decoder_model_path="{decoder_model_path}"
encoder_model_path="{encoder_model_path}"
model_bundle_manifest="{model_bundle_manifest}"
runtime_id="{runtime_id}"
image_topic="{image_topic_name}"
masks_visualization_topic="{masks_visualization_topic}"
model_package="{model_package}"
Expand Down Expand Up @@ -60,8 +60,11 @@
<TreeNodesModel>
<SubTree ID="Segment Point Cloud from Clicked Point Subtree">
<inout_port name="camera_topic_name" default="{camera_topic_name}" />
<inout_port name="decoder_model_path" default="{decoder_model_path}" />
<inout_port name="encoder_model_path" default="{encoder_model_path}" />
<inout_port
name="model_bundle_manifest"
default="{model_bundle_manifest}"
/>
<inout_port name="runtime_id" default="{runtime_id}" />
<inout_port name="image_topic_name" default="{image_topic_name}" />
<inout_port
name="masks_visualization_topic"
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