From 1152e6cea44c6cc34b6e6abaabacb8681fc80916 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Wed, 22 Jul 2026 22:13:50 -0400 Subject: [PATCH 1/3] feat: switch SAM3 objectives to the model bundle manifest --- ...e_from_no_negative_text_prompt_subtree.xml | 21 +------------------ .../segment_point_cloud_from_text.xml | 20 ------------------ .../objectives/calibrate_sam3_mask_areas.xml | 5 +---- ...ve_boxes_to_loading_zone_from_waypoint.xml | 5 +---- .../objectives/segment_image_from_prompt.xml | 5 +---- ...d_bottles_on_table_from_image_exemplar.xml | 5 +---- .../ml_segment_bottles_from_file.xml | 5 +---- .../objectives/segment_bottle_subtree.xml | 5 +---- ...e_from_no_negative_text_prompt_subtree.xml | 21 +------------------ src/moveit_pro_sam3 | 2 +- ...e_from_no_negative_text_prompt_subtree.xml | 21 +------------------ ...segment_image_from_text_prompt_subtree.xml | 21 +------------------ ...t_point_cloud_from_text_prompt_subtree.xml | 20 ------------------ 13 files changed, 11 insertions(+), 145 deletions(-) diff --git a/src/dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml b/src/dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml index d7f8d366c..edf643b2b 100644 --- a/src/dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml +++ b/src/dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml @@ -19,10 +19,7 @@ - - - - diff --git a/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml b/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml index 68fd1f38c..e1486591b 100644 --- a/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml +++ b/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml @@ -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}" @@ -86,18 +82,6 @@ default="/wrist_camera/camera_info" /> - - - - diff --git a/src/hangar_sim/objectives/calibrate_sam3_mask_areas.xml b/src/hangar_sim/objectives/calibrate_sam3_mask_areas.xml index faa05849e..916cfdf0a 100644 --- a/src/hangar_sim/objectives/calibrate_sam3_mask_areas.xml +++ b/src/hangar_sim/objectives/calibrate_sam3_mask_areas.xml @@ -39,10 +39,7 @@ - - - - diff --git a/src/moveit_pro_sam3 b/src/moveit_pro_sam3 index 0d6463ee2..4b3874d9b 160000 --- a/src/moveit_pro_sam3 +++ b/src/moveit_pro_sam3 @@ -1 +1 @@ -Subproject commit 0d6463ee293adefddadc80c97aa80096dd38a21e +Subproject commit 4b3874d9b718bc0713b7bc598abe2f4a4c3ca88b diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml index d7f8d366c..edf643b2b 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml +++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml @@ -19,10 +19,7 @@ - - - - diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_text_prompt_subtree.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_text_prompt_subtree.xml index e3b173efb..3e87a2a56 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_text_prompt_subtree.xml +++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_text_prompt_subtree.xml @@ -19,10 +19,7 @@ - - - - diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml index e6c9ab383..09e840528 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml +++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml @@ -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}" @@ -85,18 +81,6 @@ default="/wrist_camera/camera_info" /> - - - - From df2dd26bb88eaf798d0600c78aab697fec8975a2 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Wed, 29 Jul 2026 11:35:21 -0400 Subject: [PATCH 2/3] chore: pin moveit_pro_sam3 to the rebased bundle-manifest commit --- src/moveit_pro_sam3 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/moveit_pro_sam3 b/src/moveit_pro_sam3 index 4b3874d9b..e9bb655e4 160000 --- a/src/moveit_pro_sam3 +++ b/src/moveit_pro_sam3 @@ -1 +1 @@ -Subproject commit 4b3874d9b718bc0713b7bc598abe2f4a4c3ca88b +Subproject commit e9bb655e4210f9d6c416e5fceb71f26ceba50c14 From ff5331b47868329d28bfa3042ac6f880df251bec Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Sat, 8 Aug 2026 16:55:05 -0400 Subject: [PATCH 3/3] test(lab_sim): re-enable the SAM3 objectives after the port migration Co-Authored-By: Claude Opus 5 --- src/lab_sim/test/objectives_integration_test.py | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py index b6b1af8bf..759f52eff 100644 --- a/src/lab_sim/test/objectives_integration_test.py +++ b/src/lab_sim/test/objectives_integration_test.py @@ -279,23 +279,12 @@ def _controller_safe_mujoco_reset( "ML Find Bottles on Table from Image Exemplar", # Skipped because it looks for a file on a home path "ML Segment Image", "ML Segment Image Loop", - # Temporarily skipped: reaches GetMasks2DFromExemplar, whose four per-model path ports - # (encoder_model_path, text_encoder_model_path, geometry_encoder_model_path, - # decoder_model_path) were replaced by model_bundle_manifest + runtime_id in - # moveit_pro#21155. The objective still sets the removed ports, so it cannot load against - # that image. Re-enabled by PR #802, which performs the port swap. - "ML Segment Bottles from File", "ML Segment Point Cloud", # Requires GPU for ONNX inference; falls back to CPU and times out waiting for /wrist_camera/points on CI runners without a camera warmup delay. "ML Segment Point Cloud from Clicked Point", "MPC Pose Tracking", "MPC Pose Tracking With Point Cloud Avoidance", "Octomap Example", # Requires user input to clear the octomap. "Pick 1 Pill Bottle with ML", - # Temporarily skipped for the same reason as "ML Segment Bottles from File": it reaches - # GetMasks2DFromExemplar indirectly, through "Get Bottle Grasp via ICP Subtree" -> - # "Segment Bottle Subtree", and that subtree sets the removed per-model path ports. - # Re-enabled by PR #802. - "Pick 1 Pill Bottle with SAM3", "Pick All Bottles with AprilTags", "Pick All Pill Bottles", "Pick up Object",