Dedup sam2 and sam3 models

[dsobek]

src/ went from 5.9G to 4.2G.

To validate this PR, you can run all the changed objectives (I've already done this).

Closes https://github.com/PickNikRobotics/moveit_pro/issues/17828

[nbbrooks]

Retarget to ...main?

Also should we be concerned about some of the re-rdering and utf v UTF? Is your linter settings out of sync with what is aimed at main or did we change something in that recently?

[dsobek]

Retarget to ...main?

Also should we be concerned about some of the re-rdering and utf v UTF? Is your linter settings out of sync with what is aimed at main or did we change something in that recently?

I figured this can catch 9.1.1 and this'll get merged back to main after release.

For the linter settings, which diff are you referring to?

[dsobek]

Actually you are right Nathan, this should probably go through QA. I'll retarget to 9.2/main.

[nbbrooks]

$ find . -name *onnx
./src/factory_sim/models/sam2.1_decoder.onnx
./src/factory_sim/models/sam2.1_hiera_l_image_encoder.onnx
./src/factory_sim/models/sam2.1_prompt_encoder.onnx
./src/lab_sim/models/l2g.onnx
./src/moveit_pro_sam2/models/sam2_decoder.onnx
./src/moveit_pro_sam2/models/sam2_hiera_large_encoder.onnx
./src/moveit_pro_clipseg/models/clipseg.onnx
./src/moveit_pro_clipseg/models/clip.onnx
./src/kitchen_sim/models/l2g.onnx
./src/external_dependencies/phoebe_ws/src/phoebe_sim/models/l2g.onnx
./src/moveit_pro_sam3/models/sam3_text_encoder.onnx
./src/moveit_pro_sam3/models/sam3_decoder.onnx
./src/moveit_pro_sam3/models/sam3_geometry_encoder.onnx
./src/moveit_pro_sam3/models/sam3_vision_encoder.onnx

Looks like there is some hidden stuff in factory_sim still.

The l2g files are 15M so I dont see an urgent need to put that into its own repo in this PR

[dsobek]

$ find . -name *onnx
./src/factory_sim/models/sam2.1_decoder.onnx
./src/factory_sim/models/sam2.1_hiera_l_image_encoder.onnx
./src/factory_sim/models/sam2.1_prompt_encoder.onnx
./src/lab_sim/models/l2g.onnx
./src/moveit_pro_sam2/models/sam2_decoder.onnx
./src/moveit_pro_sam2/models/sam2_hiera_large_encoder.onnx
./src/moveit_pro_clipseg/models/clipseg.onnx
./src/moveit_pro_clipseg/models/clip.onnx
./src/kitchen_sim/models/l2g.onnx
./src/external_dependencies/phoebe_ws/src/phoebe_sim/models/l2g.onnx
./src/moveit_pro_sam3/models/sam3_text_encoder.onnx
./src/moveit_pro_sam3/models/sam3_decoder.onnx
./src/moveit_pro_sam3/models/sam3_geometry_encoder.onnx
./src/moveit_pro_sam3/models/sam3_vision_encoder.onnx

Looks like there is some hidden stuff in factory_sim still.

The l2g files are 15M so I dont see an urgent need to put that into its own repo in this PR

Yeah I noticed, I asked griz about this and that is SAM 2.1. I figured to keep things a bit focused I would ignore that for now. It is only used once anyhow.

@griswaldbrooks Going forward we are really only using SAM3 right? Should I do anything special with SAM 2.1?

[griswaldbrooks]

@griswaldbrooks Going forward we are really only using SAM3 right? Should I do anything special with SAM 2.1?

I never said we were only going to use SAM3 moving forward. SAM3 doesn't support points at the moment (in our implementation) so SAM2 and SAM2.1 will live on for the forseeable future. Even when we do port in the point based input for SAM3 if we did want to depreciate SAM2/2.1 we would have to refactor those behaviors, which will take time.