Add SAM2 automasking ModelPool bundle manifest for factory_sim

[griswaldbrooks]

[written by AI]

needs: moveit_pro/#21135 — this PR pairs with moveit_pro#21135, which migrates GetMasks2DAutomask off its per-file-path model ports onto a ModelPool-backed bundle manifest. moveit_pro#21135 itself depends on moveit_pro#20740 and must merge first; this PR is opened as a draft in parallel for early review, and should merge only after moveit_pro#21135 lands.

Motivation

GetMasks2DAutomask's encoder_model_path, prompt_encoder_model_path, and decoder_model_path ports are removed in moveit_pro#21135, replaced by model_bundle_manifest + runtime_id. The three shipped factory_sim automasking objectives, and the ml_automasking.mdx how-to guide (in the moveit_pro repo, already updated in #21135), reference the old ports and would break once that PR merges.

Brief description

• Adds src/factory_sim/models/sam2_automask_bundle.yaml, the versioned bundle manifest for the three existing SAM2.1 automasking model files (sam2.1_hiera_l_image_encoder.onnx, sam2.1_prompt_encoder.onnx, sam2.1_decoder.onnx), matching the moveit_pro.sam2_automask.v1 graph ABI and sam2_automask model ID the new SAM2Automasking facade expects. SHA-256 digests were computed directly from the shipped model files.
• Updates the three factory_sim objectives that call GetMasks2DAutomask (automask_from_file.xml, automask_from_camera.xml, automask_camera_iterate_masks.xml) to set model_bundle_manifest=models/sam2_automask_bundle.yaml + runtime_id=onnxruntime instead of the three removed path ports.
• No model files were added, moved, or re-exported — the manifest just points at the files already in src/factory_sim/models/.

How it was tested

Verified the three edited objective XML files still declare MetadataFields and parse as valid BT XML (unchanged structurally aside from the port swap). Did not re-run the factory_sim automasking objectives end-to-end against moveit_pro#21135's build — that PR is still in draft review.

Release notes

None. Internal follow-up to moveit_pro#21135's port rename; no independent user-facing behavior change in this repo.

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[griswaldbrooks]

[written by AI]

Paired moveit_pro PR: PickNikRobotics/moveit_pro#21135 — migrates GetMasks2DAutomask/GetMasks2DFromPointQuery off ONNXTensorModel onto the runtime-neutral ModelPool, removing the per-file-path ports this PR's objective updates depend on. That PR itself depends on #20740 and must merge first.

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs