Switch SAM3 Objectives to the model bundle manifest

[griswaldbrooks]

[written by AI]

needs: moveit_pro/#20740

Motivation

PickNikRobotics/moveit_pro#20740 replaces GetMasks2DFromExemplar's four model-path ports with a versioned model_bundle_manifest + runtime_id pair. Every SAM3 Objective in this repo sets the removed ports, so integration tests fail against that PR's image without this change.

Brief description

• Bumps the moveit_pro_sam3 submodule to 4b3874d, which adds models/model.yaml — the bundle manifest listing the four ONNX graphs with SHA-256 digests (branch feat/bundle-manifest on that repo; digests verified at load time by the new runtime layer).
• Updates all 10 SAM3 GetMasks2DFromExemplar usages (lab_sim, hangar_sim, kitchen_sim, dual_arm_sim, franka/UR base configs): the four *_model_path ports become model_bundle_manifest="models/model.yaml".
• Removes the now-dead *_model_path SubTree port declarations and call-site passthroughs in the text-prompt segmentation subtree chains.

SAM2 behaviors (GetMasks2DFromPointQuery, automasking) keep their existing ports — only SAM3 usages changed.

How it was tested

• All edited XML validated well-formed; pre-commit clean.
• Full-stack validation is this PR's CI: the needs: token runs the integration suite against moveit_pro#20740's image.

[coderabbitai]

Important

Review skipped

Draft detected.

Please check the settings in the CodeRabbit UI or the .coderabbit.yaml file in this repository. To trigger a single review, invoke the @coderabbitai review command.

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 64cc0b09-4c50-4074-86ca-e8af6b08f9cc

You can disable this status message by setting the reviews.review_status to false in the CodeRabbit configuration file.

Use the checkbox below for a quick retry:

• 🔍 Trigger review

---

_{Comment @coderabbitai help to get the list of available commands.}

[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

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: view HTML report — 2 failed, 32 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed