Migrate lab_sim CLIPSeg objectives to SAM3#524
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Replace GetMasks2DFromTextQuery (CLIPSeg) with GetMasks2DFromExemplar (SAM3) across 5 lab_sim objectives and 2 reusable subtrees. This simplifies the grasping pipeline from a two-stage CLIPSeg+SAM2 refinement loop to a single SAM3 call, and removes the dependency on moveit_pro_clipseg models. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Rebased to pick up CI fix. |
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Summary
SAM3 Segment Image Subtree,SAM3 Segment Point Cloud Subtree) that replace the shared CLIPSeg-based subtrees from ur_base_configGetMasks2DFromTextQuery(CLIPSeg) toGetMasks2DFromExemplar(SAM3)get_candidate_grasps_subtree.xmlfrom a two-stage CLIPSeg → SAM2 refinement pipeline to a single SAM3 callmoveit_pro_clipsegmodels for all lab_sim objectivesTest plan
test_load_objectivespasses — all 85 XML objectives load cleanlyML Segment Imageobjective and verify masks appearPick 1 Pill Bottleobjective end-to-endPick All Pill Bottlesobjective end-to-endAddBottlesToPlanningSceneobjective and verify collision objects added🤖 Generated with Claude Code