From 58383f907d9c9c510b802c4596afa3c582f3d67c Mon Sep 17 00:00:00 2001
From: David Sobek <david.sobek@picknik.ai>
Date: Fri, 3 Apr 2026 16:17:40 -0600
Subject: [PATCH] Dedup sam2 and sam3 models

---
 .gitmodules                                   |  6 ++++
 .../objectives/find_with_prompt.xml           |  2 --
 .../segment_point_cloud_from_text.xml         |  7 -----
 src/external_dependencies/phoebe_ws           |  2 +-
 ...ve_boxes_to_loading_zone_from_waypoint.xml |  4 +--
 .../objectives/segment_image_from_point.xml   |  4 +--
 ...segment_point_cloud_from_clicked_point.xml |  7 ++---
 src/hangar_sim/package.xml                    |  1 +
 src/kitchen_sim/models/decoder.onnx           |  3 --
 .../models/sam2_hiera_large_encoder.onnx      |  3 --
 .../objectives/generate_graspable_object.xml  |  4 +--
 .../objectives/grasp_object_from_point.xml    |  4 +--
 .../objectives/segment_image_from_point.xml   |  4 +--
 .../segment_point_cloud_from_point.xml        |  4 +--
 src/kitchen_sim/package.xml                   |  2 ++
 src/lab_sim/models/decoder.onnx               |  3 --
 .../models/sam2_hiera_large_encoder.onnx      |  3 --
 src/lab_sim/models/sam3_decoder.onnx          |  3 --
 src/lab_sim/models/sam3_geometry_encoder.onnx |  3 --
 src/lab_sim/models/sam3_text_encoder.onnx     |  3 --
 src/lab_sim/models/sam3_vision_encoder.onnx   |  3 --
 .../get_candidate_grasps_subtree.xml          |  4 +--
 ...l_auto_grasp_object_from_clicked_point.xml |  4 +--
 ...d_bottles_on_table_from_image_exemplar.xml |  2 +-
 .../objectives/ml_find_objects_on_table.xml   |  2 +-
 .../ml_segment_bottles_from_file.xml          |  2 +-
 .../objectives/ml_segment_point_cloud.xml     |  2 --
 ...segment_point_cloud_from_clicked_point.xml |  4 +--
 src/lab_sim/objectives/pick_1_pill_bottle.xml |  2 --
 src/lab_sim/package.xml                       |  3 ++
 src/moveit_pro_sam2                           |  1 +
 src/moveit_pro_sam3                           |  1 +
 .../segment_image_from_point_subtree.xml      | 30 +++++++++++--------
 ...segment_image_from_text_prompt_subtree.xml | 14 ++++-----
 ...t_point_cloud_from_text_prompt_subtree.xml | 19 ++++--------
 35 files changed, 70 insertions(+), 95 deletions(-)
 delete mode 100644 src/kitchen_sim/models/decoder.onnx
 delete mode 100644 src/kitchen_sim/models/sam2_hiera_large_encoder.onnx
 delete mode 100644 src/lab_sim/models/decoder.onnx
 delete mode 100644 src/lab_sim/models/sam2_hiera_large_encoder.onnx
 delete mode 100644 src/lab_sim/models/sam3_decoder.onnx
 delete mode 100644 src/lab_sim/models/sam3_geometry_encoder.onnx
 delete mode 100644 src/lab_sim/models/sam3_text_encoder.onnx
 delete mode 100644 src/lab_sim/models/sam3_vision_encoder.onnx
 create mode 160000 src/moveit_pro_sam2
 create mode 160000 src/moveit_pro_sam3

diff --git a/.gitmodules b/.gitmodules
index 202f54a33..38091a9a1 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -27,3 +27,9 @@
 	path = src/external_dependencies/phoebe_ws
 	url = https://github.com/PickNikRobotics/phoebe_ws.git
 	branch = for-example-ws-no-dups
+[submodule "src/moveit_pro_sam3"]
+	path = src/moveit_pro_sam3
+	url = https://github.com/PickNikRobotics/moveit_pro_sam3.git
+[submodule "src/moveit_pro_sam2"]
+	path = src/moveit_pro_sam2
+	url = https://github.com/PickNikRobotics/moveit_pro_sam2.git
diff --git a/src/dual_arm_sim/objectives/find_with_prompt.xml b/src/dual_arm_sim/objectives/find_with_prompt.xml
index 6aa339e6d..67f780897 100644
--- a/src/dual_arm_sim/objectives/find_with_prompt.xml
+++ b/src/dual_arm_sim/objectives/find_with_prompt.xml
@@ -7,8 +7,6 @@
         ID="Segment Point Cloud from Text Prompt Subtree"
         _collapsed="false"
         camera_topic_name="/scene_camera/camera_info"
-        decoder_model_path="models/decoder.onnx"
-        encoder_model_path="models/sam2_hiera_large_encoder.onnx"
         image_topic_name="/scene_camera/color"
         masks_visualization_topic="/masks_visualization"
         model_package="moveit_pro_clipseg"
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 267ead870..839028807 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
@@ -9,8 +9,6 @@
     _description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
     _favorite="false"
     camera_topic_name="/wrist_camera/camera_info"
-    decoder_model_path="models/decoder.onnx"
-    encoder_model_path="models/sam2_hiera_large_encoder.onnx"
     image_topic_name="/wrist_camera/color"
     masks_visualization_topic="/masks_visualization"
     model_package="moveit_pro_clipseg"
@@ -87,11 +85,6 @@
       />
       <input_port name="clip_model_path" default="{clip_model_path}" />
       <input_port name="clipseg_model_path" default="{clipseg_model_path}" />
-      <input_port name="decoder_model_path" default="models/decoder.onnx" />
-      <input_port
-        name="encoder_model_path"
-        default="models/sam2_hiera_large_encoder.onnx"
-      />
       <input_port name="erosion_size" default="{erosion_size}" />
       <input_port name="image_topic_name" default="/wrist_camera/color" />
       <input_port
diff --git a/src/external_dependencies/phoebe_ws b/src/external_dependencies/phoebe_ws
index 4e40aca76..11e339cb0 160000
--- a/src/external_dependencies/phoebe_ws
+++ b/src/external_dependencies/phoebe_ws
@@ -1 +1 @@
-Subproject commit 4e40aca7675a8a39efb039444e6e999c7ae6ab25
+Subproject commit 11e339cb0eec745cb688a8af78fe8db67ca31828
diff --git a/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml b/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
index bf25c20c1..14e3ba071 100644
--- a/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
+++ b/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
@@ -130,8 +130,8 @@
                   image="{image}"
                   pixel_coords="{pixel_coords}"
                   masks2d="{masks2d}"
-                  model_package="lab_sim"
-                  decoder_model_path="models/decoder.onnx"
+                  model_package="moveit_pro_sam2"
+                  decoder_model_path="models/sam2_decoder.onnx"
                   encoder_model_path="models/sam2_hiera_large_encoder.onnx"
                 />
                 <Action
diff --git a/src/hangar_sim/objectives/segment_image_from_point.xml b/src/hangar_sim/objectives/segment_image_from_point.xml
index 429c90dac..ccbfc3c97 100644
--- a/src/hangar_sim/objectives/segment_image_from_point.xml
+++ b/src/hangar_sim/objectives/segment_image_from_point.xml
@@ -10,11 +10,11 @@
       <SubTree
         ID="Segment Image from Point Subtree"
         _collapsed="true"
-        decoder_model_path="models/decoder.onnx"
+        decoder_model_path="models/sam2_decoder.onnx"
         encoder_model_path="models/sam2_hiera_large_encoder.onnx"
         image_topic_name="/wrist_camera/color"
         masks_visualization_topic="/masks_visualization"
-        model_package="lab_sim"
+        model_package="moveit_pro_sam2"
         pixel_coords="{pixel_coords}"
         masks2d="{masks2d}"
       />
diff --git a/src/hangar_sim/objectives/segment_point_cloud_from_clicked_point.xml b/src/hangar_sim/objectives/segment_point_cloud_from_clicked_point.xml
index 183257634..da3e6cd21 100644
--- a/src/hangar_sim/objectives/segment_point_cloud_from_clicked_point.xml
+++ b/src/hangar_sim/objectives/segment_point_cloud_from_clicked_point.xml
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="Segment Point Cloud from Clicked Point"
@@ -12,13 +12,12 @@
     <Control ID="Sequence">
       <SubTree
         ID="Segment Point Cloud from Clicked Point Subtree"
-        _collapsed="true"
         camera_topic_name="/wrist_camera/camera_info"
-        decoder_model_path="models/decoder.onnx"
+        decoder_model_path="models/sam2_decoder.onnx"
         encoder_model_path="models/sam2_hiera_large_encoder.onnx"
         image_topic_name="/wrist_camera/color"
         masks_visualization_topic="/masks_visualization"
-        model_package="lab_sim"
+        model_package="moveit_pro_sam2"
         points_topic_name="/wrist_camera/points"
       />
     </Control>
diff --git a/src/hangar_sim/package.xml b/src/hangar_sim/package.xml
index f06c465f3..4e3759458 100644
--- a/src/hangar_sim/package.xml
+++ b/src/hangar_sim/package.xml
@@ -27,6 +27,7 @@
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_force_controller</exec_depend>
+  <exec_depend>moveit_pro_sam2</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
 
diff --git a/src/kitchen_sim/models/decoder.onnx b/src/kitchen_sim/models/decoder.onnx
deleted file mode 100644
index fc4bc327e..000000000
--- a/src/kitchen_sim/models/decoder.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1f448cdb479e6ec14e61c4756138eb4081ce7f8a11ca43a0a24856d5e8b61b6f
-size 20665365
diff --git a/src/kitchen_sim/models/sam2_hiera_large_encoder.onnx b/src/kitchen_sim/models/sam2_hiera_large_encoder.onnx
deleted file mode 100644
index cace9759b..000000000
--- a/src/kitchen_sim/models/sam2_hiera_large_encoder.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c99ab89a38385753aff7ea9155f0808ad5535bc55ea2a49320254e39e4011630
-size 889364590
diff --git a/src/kitchen_sim/objectives/generate_graspable_object.xml b/src/kitchen_sim/objectives/generate_graspable_object.xml
index e08bd9c1b..f91877e7e 100644
--- a/src/kitchen_sim/objectives/generate_graspable_object.xml
+++ b/src/kitchen_sim/objectives/generate_graspable_object.xml
@@ -27,9 +27,9 @@
         image="{image}"
         masks2d="{masks2d}"
         pixel_coords="{pixel_coords}"
-        decoder_model_path="models/decoder.onnx"
+        decoder_model_path="models/sam2_decoder.onnx"
         encoder_model_path="models/sam2_hiera_large_encoder.onnx"
-        model_package="kitchen_sim"
+        model_package="moveit_pro_sam2"
       />
       <Action
         ID="PublishMask2D"
diff --git a/src/kitchen_sim/objectives/grasp_object_from_point.xml b/src/kitchen_sim/objectives/grasp_object_from_point.xml
index 691ec55fb..58569b0da 100644
--- a/src/kitchen_sim/objectives/grasp_object_from_point.xml
+++ b/src/kitchen_sim/objectives/grasp_object_from_point.xml
@@ -26,9 +26,9 @@
         image="{image}"
         masks2d="{masks2d}"
         pixel_coords="{pixel_coords}"
-        decoder_model_path="models/decoder.onnx"
+        decoder_model_path="models/sam2_decoder.onnx"
         encoder_model_path="models/sam2_hiera_large_encoder.onnx"
-        model_package="kitchen_sim"
+        model_package="moveit_pro_sam2"
       />
       <Action
         ID="PublishMask2D"
diff --git a/src/kitchen_sim/objectives/segment_image_from_point.xml b/src/kitchen_sim/objectives/segment_image_from_point.xml
index 69c93f1d4..96a642332 100644
--- a/src/kitchen_sim/objectives/segment_image_from_point.xml
+++ b/src/kitchen_sim/objectives/segment_image_from_point.xml
@@ -24,9 +24,9 @@
         image="{image}"
         masks2d="{masks2d}"
         pixel_coords="{pixel_coords}"
-        decoder_model_path="models/decoder.onnx"
+        decoder_model_path="models/sam2_decoder.onnx"
         encoder_model_path="models/sam2_hiera_large_encoder.onnx"
-        model_package="kitchen_sim"
+        model_package="moveit_pro_sam2"
       />
       <Action
         ID="PublishMask2D"
diff --git a/src/kitchen_sim/objectives/segment_point_cloud_from_point.xml b/src/kitchen_sim/objectives/segment_point_cloud_from_point.xml
index 56a6114fb..12b34722e 100644
--- a/src/kitchen_sim/objectives/segment_point_cloud_from_point.xml
+++ b/src/kitchen_sim/objectives/segment_point_cloud_from_point.xml
@@ -25,9 +25,9 @@
         image="{image}"
         masks2d="{masks2d}"
         pixel_coords="{pixel_coords}"
-        decoder_model_path="models/decoder.onnx"
+        decoder_model_path="models/sam2_decoder.onnx"
         encoder_model_path="models/sam2_hiera_large_encoder.onnx"
-        model_package="kitchen_sim"
+        model_package="moveit_pro_sam2"
       />
       <Action
         ID="PublishMask2D"
diff --git a/src/kitchen_sim/package.xml b/src/kitchen_sim/package.xml
index 015c1022b..7dcb689d5 100644
--- a/src/kitchen_sim/package.xml
+++ b/src/kitchen_sim/package.xml
@@ -15,6 +15,8 @@
   <exec_depend>franka_description</exec_depend>
   <exec_depend>moveit_pro_behavior</exec_depend>
   <exec_depend>moveit_studio_agent</exec_depend>
+  <exec_depend>moveit_pro_clipseg</exec_depend>
+  <exec_depend>moveit_pro_sam2</exec_depend>
 
   <test_depend>ament_clang_format</test_depend>
   <test_depend>ament_clang_tidy</test_depend>
diff --git a/src/lab_sim/models/decoder.onnx b/src/lab_sim/models/decoder.onnx
deleted file mode 100644
index fc4bc327e..000000000
--- a/src/lab_sim/models/decoder.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1f448cdb479e6ec14e61c4756138eb4081ce7f8a11ca43a0a24856d5e8b61b6f
-size 20665365
diff --git a/src/lab_sim/models/sam2_hiera_large_encoder.onnx b/src/lab_sim/models/sam2_hiera_large_encoder.onnx
deleted file mode 100644
index cace9759b..000000000
--- a/src/lab_sim/models/sam2_hiera_large_encoder.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c99ab89a38385753aff7ea9155f0808ad5535bc55ea2a49320254e39e4011630
-size 889364590
diff --git a/src/lab_sim/models/sam3_decoder.onnx b/src/lab_sim/models/sam3_decoder.onnx
deleted file mode 100644
index b8193d97b..000000000
--- a/src/lab_sim/models/sam3_decoder.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8496d685a950604626c3e6b972c21f5b4b876b15ce98b9b899875f392947b83c
-size 16529612
diff --git a/src/lab_sim/models/sam3_geometry_encoder.onnx b/src/lab_sim/models/sam3_geometry_encoder.onnx
deleted file mode 100644
index e5584d72e..000000000
--- a/src/lab_sim/models/sam3_geometry_encoder.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6717167a4454e063ab71895b5c03d067ce7386437fb489d1484feb2ca3abf741
-size 9368335
diff --git a/src/lab_sim/models/sam3_text_encoder.onnx b/src/lab_sim/models/sam3_text_encoder.onnx
deleted file mode 100644
index 154f3bb96..000000000
--- a/src/lab_sim/models/sam3_text_encoder.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:639ba5a9991b012d3290fbba27eb8dbcebdc86ed9f747572d7bea1678317d8d1
-size 277048388
diff --git a/src/lab_sim/models/sam3_vision_encoder.onnx b/src/lab_sim/models/sam3_vision_encoder.onnx
deleted file mode 100644
index df428a6e6..000000000
--- a/src/lab_sim/models/sam3_vision_encoder.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9c00c5db8739f4c0cd0158a916f0e9755e0240bb35abca2934ab308e72cb2d6e
-size 288364335
diff --git a/src/lab_sim/objectives/get_candidate_grasps_subtree.xml b/src/lab_sim/objectives/get_candidate_grasps_subtree.xml
index 310875518..4cb2a1b08 100644
--- a/src/lab_sim/objectives/get_candidate_grasps_subtree.xml
+++ b/src/lab_sim/objectives/get_candidate_grasps_subtree.xml
@@ -67,9 +67,9 @@
             image="{image}"
             masks2d="{refined_masks}"
             pixel_coords="{center2d}"
-            decoder_model_path="models/decoder.onnx"
+            decoder_model_path="models/sam2_decoder.onnx"
             encoder_model_path="models/sam2_hiera_large_encoder.onnx"
-            model_package="lab_sim"
+            model_package="moveit_pro_sam2"
           />
         </Control>
       </Decorator>
diff --git a/src/lab_sim/objectives/ml_auto_grasp_object_from_clicked_point.xml b/src/lab_sim/objectives/ml_auto_grasp_object_from_clicked_point.xml
index 6881b8b57..78932a871 100644
--- a/src/lab_sim/objectives/ml_auto_grasp_object_from_clicked_point.xml
+++ b/src/lab_sim/objectives/ml_auto_grasp_object_from_clicked_point.xml
@@ -34,9 +34,9 @@
         image_topic_name="/wrist_camera/color"
         masks_visualization_topic="/masks_visualization"
         masks2d="{masks2d}"
-        model_package="lab_sim"
+        model_package="moveit_pro_sam2"
         pixel_coords="{pixel_coords}"
-        decoder_model_path="models/decoder.onnx"
+        decoder_model_path="models/sam2_decoder.onnx"
         name="Ask the user to pick an object"
       />
       <Action
diff --git a/src/lab_sim/objectives/ml_find_bottles_on_table_from_image_exemplar.xml b/src/lab_sim/objectives/ml_find_bottles_on_table_from_image_exemplar.xml
index da55644de..976888c45 100644
--- a/src/lab_sim/objectives/ml_find_bottles_on_table_from_image_exemplar.xml
+++ b/src/lab_sim/objectives/ml_find_bottles_on_table_from_image_exemplar.xml
@@ -30,7 +30,7 @@
       <SubTree ID="Take Wrist Camera Image" _collapsed="true" />
       <Action
         ID="GetMasks2DFromExemplar"
-        model_package="lab_sim"
+        model_package="moveit_pro_sam3"
         encoder_model_path="models/sam3_vision_encoder.onnx"
         decoder_model_path="models/sam3_decoder.onnx"
         geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
diff --git a/src/lab_sim/objectives/ml_find_objects_on_table.xml b/src/lab_sim/objectives/ml_find_objects_on_table.xml
index 18c8f885f..44e6d0b45 100644
--- a/src/lab_sim/objectives/ml_find_objects_on_table.xml
+++ b/src/lab_sim/objectives/ml_find_objects_on_table.xml
@@ -10,7 +10,7 @@
       <SubTree ID="Take Wrist Camera Image" _collapsed="false" />
       <Action
         ID="GetMasks2DFromExemplar"
-        model_package="lab_sim"
+        model_package="moveit_pro_sam3"
         encoder_model_path="models/sam3_vision_encoder.onnx"
         decoder_model_path="models/sam3_decoder.onnx"
         geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
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 df16da5ab..cfd041784 100644
--- a/src/lab_sim/objectives/ml_segment_bottles_from_file.xml
+++ b/src/lab_sim/objectives/ml_segment_bottles_from_file.xml
@@ -12,7 +12,7 @@
       />
       <Action
         ID="GetMasks2DFromExemplar"
-        model_package="lab_sim"
+        model_package="moveit_pro_sam3"
         encoder_model_path="models/sam3_vision_encoder.onnx"
         decoder_model_path="models/sam3_decoder.onnx"
         geometry_encoder_model_path="models/sam3_geometry_encoder.onnx"
diff --git a/src/lab_sim/objectives/ml_segment_point_cloud.xml b/src/lab_sim/objectives/ml_segment_point_cloud.xml
index c878b5211..2af07fd8a 100644
--- a/src/lab_sim/objectives/ml_segment_point_cloud.xml
+++ b/src/lab_sim/objectives/ml_segment_point_cloud.xml
@@ -11,8 +11,6 @@
         ID="Segment Point Cloud from Text Prompt Subtree"
         _collapsed="true"
         camera_topic_name="/wrist_camera/camera_info"
-        decoder_model_path="models/decoder.onnx"
-        encoder_model_path="models/sam2_hiera_large_encoder.onnx"
         image_topic_name="/wrist_camera/color"
         masks_visualization_topic="/masks_visualization"
         model_package="moveit_pro_clipseg"
diff --git a/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml b/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml
index 991f93b06..53386823f 100644
--- a/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml
+++ b/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml
@@ -14,11 +14,11 @@
         ID="Segment Point Cloud from Clicked Point Subtree"
         _collapsed="true"
         camera_topic_name="/wrist_camera/camera_info"
-        decoder_model_path="models/decoder.onnx"
+        decoder_model_path="models/sam2_decoder.onnx"
         encoder_model_path="models/sam2_hiera_large_encoder.onnx"
         image_topic_name="/wrist_camera/color"
         masks_visualization_topic="/masks_visualization"
-        model_package="lab_sim"
+        model_package="moveit_pro_sam2"
         points_topic_name="/wrist_camera/points"
       />
     </Control>
diff --git a/src/lab_sim/objectives/pick_1_pill_bottle.xml b/src/lab_sim/objectives/pick_1_pill_bottle.xml
index 10d32a456..76678610e 100644
--- a/src/lab_sim/objectives/pick_1_pill_bottle.xml
+++ b/src/lab_sim/objectives/pick_1_pill_bottle.xml
@@ -19,8 +19,6 @@
         ID="Segment Point Cloud from Text Prompt Subtree"
         _collapsed="false"
         camera_topic_name="/wrist_camera/camera_info"
-        decoder_model_path="models/decoder.onnx"
-        encoder_model_path="models/sam2_hiera_large_encoder.onnx"
         image_topic_name="/wrist_camera/color"
         masks_visualization_topic="/masks_visualization"
         model_package="moveit_pro_clipseg"
diff --git a/src/lab_sim/package.xml b/src/lab_sim/package.xml
index 6bddc8072..bcd0f79ad 100644
--- a/src/lab_sim/package.xml
+++ b/src/lab_sim/package.xml
@@ -29,6 +29,9 @@
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_force_controller</exec_depend>
   <exec_depend>lab_sim_behaviors</exec_depend>
+  <exec_depend>moveit_pro_clipseg</exec_depend>
+  <exec_depend>moveit_pro_sam2</exec_depend>
+  <exec_depend>moveit_pro_sam3</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
 
diff --git a/src/moveit_pro_sam2 b/src/moveit_pro_sam2
new file mode 160000
index 000000000..00c69577f
--- /dev/null
+++ b/src/moveit_pro_sam2
@@ -0,0 +1 @@
+Subproject commit 00c69577f97bc36b23b5432725f0cba12ff18065
diff --git a/src/moveit_pro_sam3 b/src/moveit_pro_sam3
new file mode 160000
index 000000000..0d6463ee2
--- /dev/null
+++ b/src/moveit_pro_sam3
@@ -0,0 +1 @@
+Subproject commit 0d6463ee293adefddadc80c97aa80096dd38a21e
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_point_subtree.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_point_subtree.xml
index 020197d2b..84de866f3 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_point_subtree.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_point_subtree.xml
@@ -1,15 +1,15 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Segment Image from Point Subtree">
   <!--//////////-->
   <BehaviorTree
     ID="Segment Image from Point Subtree"
     _description="Captures an image and segments it using three user provided prompt points."
     _favorite="false"
-    decoder_model_path="models/decoder.onnx"
+    decoder_model_path="models/sam2_decoder.onnx"
     encoder_model_path="models/sam2_hiera_large_encoder.onnx"
     image_topic_name="/wrist_camera/color"
     masks_visualization_topic="/masks_visualization"
-    model_package="lab_sim"
+    model_package="moveit_pro_sam2"
     masks2d="{masks2d}"
     pixel_coords="{pixel_coords}"
   >
@@ -47,20 +47,26 @@
   </BehaviorTree>
   <TreeNodesModel>
     <SubTree ID="Segment Image from Point Subtree">
-      <input_port name="decoder_model_path" default="{decoder_model_path}" />
-      <input_port name="encoder_model_path" default="{encoder_model_path}" />
-      <input_port name="image_topic_name" default="{image_topic_name}" />
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
+      <input_port
+        name="decoder_model_path"
+        default="models/sam2_decoder.onnx"
+      />
+      <input_port
+        name="encoder_model_path"
+        default="models/sam2_hiera_large_encoder.onnx"
+      />
+      <input_port name="image_topic_name" default="/wrist_camera/color" />
       <input_port
         name="masks_visualization_topic"
-        default="{masks_visualization_topic}"
+        default="/masks_visualization"
       />
       <output_port name="masks2d" default="{masks2d}" />
-      <input_port name="model_package" default="{model_package}" />
+      <input_port name="model_package" default="moveit_pro_sam2" />
       <output_port name="pixel_coords" default="{pixel_coords}" />
-      <MetadataFields>
-        <Metadata runnable="false" />
-        <Metadata subcategory="Perception - ML" />
-      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
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 bc7080bab..971e04f64 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
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="Segment Image from Text Prompt Subtree"
@@ -38,23 +38,23 @@
   </BehaviorTree>
   <TreeNodesModel>
     <SubTree ID="Segment Image from Text Prompt Subtree">
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
       <input_port name="clip_model_path" default="{clip_model_path}" />
       <input_port name="clipseg_model_path" default="{clipseg_model_path}" />
       <input_port name="erosion_size" default="{erosion_size}" />
+      <input_port name="image_topic_name" default="{image_topic_name}" />
       <input_port
         name="masks_visualization_topic"
         default="{masks_visualization_topic}"
       />
+      <output_port name="masks2d" default="{masks2d}" />
       <input_port name="model_package" default="{model_package}" />
       <input_port name="negative_prompts" default="{negative_prompts}" />
       <input_port name="prompts" default="{prompts}" />
       <input_port name="threshold" default="{threshold}" />
-      <input_port name="image_topic_name" default="{image_topic_name}" />
-      <output_port name="masks2d" default="{masks2d}" />
-      <MetadataFields>
-        <Metadata runnable="false" />
-        <Metadata subcategory="Perception - ML" />
-      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
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 4c02bb38f..ddaaf0fe8 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
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="Segment Point Cloud from Text Prompt Subtree"
@@ -9,8 +9,6 @@
     _description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
     _favorite="false"
     camera_topic_name="/wrist_camera/camera_info"
-    decoder_model_path="models/decoder.onnx"
-    encoder_model_path="models/sam2_hiera_large_encoder.onnx"
     image_topic_name="/wrist_camera/color"
     masks_visualization_topic="/masks_visualization"
     model_package="moveit_pro_clipseg"
@@ -81,17 +79,16 @@
   </BehaviorTree>
   <TreeNodesModel>
     <SubTree ID="Segment Point Cloud from Text Prompt Subtree">
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
       <input_port
         name="camera_topic_name"
         default="/wrist_camera/camera_info"
       />
       <input_port name="clip_model_path" default="{clip_model_path}" />
       <input_port name="clipseg_model_path" default="{clipseg_model_path}" />
-      <input_port name="decoder_model_path" default="models/decoder.onnx" />
-      <input_port
-        name="encoder_model_path"
-        default="models/sam2_hiera_large_encoder.onnx"
-      />
       <input_port name="erosion_size" default="{erosion_size}" />
       <input_port name="image_topic_name" default="/wrist_camera/color" />
       <input_port
@@ -99,16 +96,12 @@
         default="/masks_visualization"
       />
       <output_port name="masks3d" default="{masks3d}" />
-      <input_port name="model_package" default="lab_sim" />
+      <input_port name="model_package" default="moveit_pro_clipseg" />
       <output_port name="point_cloud" default="{point_cloud}" />
       <output_port name="point_cloud_vector" default="{point_cloud_vector}" />
       <input_port name="points_topic_name" default="/wrist_camera/points" />
       <input_port name="prompts" default="{prompts}" />
       <input_port name="threshold" default="{threshold}" />
-      <MetadataFields>
-        <Metadata runnable="false" />
-        <Metadata subcategory="Perception - ML" />
-      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>