From d4ed7b293dfa32fa4df240343fd30168b28b1b91 Mon Sep 17 00:00:00 2001
From: Griswald Brooks <griswald.brooks@gmail.com>
Date: Tue, 17 Mar 2026 18:25:27 -0400
Subject: [PATCH] 17282 Updates SAM3 objective from file to use package path,
 enable unit test, and make image smaller to reduce VRAM requirement

---
 src/lab_sim/objectives/ml_segment_bottles_from_file.xml | 3 ++-
 src/lab_sim/objectives/real_lab1.png                    | 4 ++--
 src/lab_sim/test/objectives_integration_test.py         | 1 -
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/lab_sim/objectives/ml_segment_bottles_from_file.xml b/src/lab_sim/objectives/ml_segment_bottles_from_file.xml
index df16da5a..c6e08fce 100644
--- a/src/lab_sim/objectives/ml_segment_bottles_from_file.xml
+++ b/src/lab_sim/objectives/ml_segment_bottles_from_file.xml
@@ -8,7 +8,8 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="LoadImageFromFile"
-        file_path="~/user_ws/src/lab_sim/objectives/real_lab1.png"
+        file_path="objectives/real_lab1.png"
+        package_name="lab_sim"
       />
       <Action
         ID="GetMasks2DFromExemplar"
diff --git a/src/lab_sim/objectives/real_lab1.png b/src/lab_sim/objectives/real_lab1.png
index df13135b..c7a39126 100644
--- a/src/lab_sim/objectives/real_lab1.png
+++ b/src/lab_sim/objectives/real_lab1.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:67d65efc66249c7fcacc2ae6f0df170f664facf48720cceab6110eaa5096a5c2
-size 8517701
+oid sha256:f59d6682153d68b7b7ca4623798ca962ff53d76ce78757b055ddfcd3a90c70d6
+size 1019344
diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py
index b6e53c0c..108f4ab3 100644
--- a/src/lab_sim/test/objectives_integration_test.py
+++ b/src/lab_sim/test/objectives_integration_test.py
@@ -68,7 +68,6 @@
     "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample",
     "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample",
     "ML Find Bottles on Table from Image Exemplar",  # Skipped because it looks for a file on a home path
-    "ML Segment Bottles from File",  # Skipped because it looks for a file on a home path
     "ML Segment Image",
     "ML Segment Point Cloud from Clicked Point",
     "ML Auto Grasp Object from Clicked Point",  # Skipped because there is no primary ui to switch to in ci