Switch SAM2 point-query Objectives to the model bundle manifest

[griswaldbrooks]

[written by AI]

needs: moveit_pro/#21156

Motivation

moveit_pro#21156 migrates
GetMasks2DFromPointQuery onto the pooled model runtime, replacing its encoder_model_path /
decoder_model_path ports with model_bundle_manifest + runtime_id. Nine Objective files in this
workspace (13 sites) still set the removed ports, so they fail to load against that PR's image.

Same shape as #802 (SAM3) and #831 (SAM2 automasking); this is the SAM2 point-query flavor.

Brief description

• Seven direct/subtree call sites (kitchen_sim ×4, lab_sim, hangar_sim ×2): the two *_model_path
  attributes become model_bundle_manifest="models/model.yaml" + runtime_id="onnxruntime".
  model_package="moveit_pro_sam2" is unchanged.
• Two picknik_ur_base_config subtrees (segment_image_from_point_subtree,
  segment_point_cloud_from_clicked_point_subtree): tree defaults, call-site passthroughs, and the
  TreeNodesModel inout_port declarations all swap to the new port names, so no dead port
  declarations remain.

The manifest itself ships in the moveit_pro_sam2 submodule via
moveit_pro_sam2#3; the submodule bump
rides on #832 and is not duplicated here.

SAM3 (GetMasks2DFromExemplar) and SAM2 automasking usages are untouched — they belong to #802 and
#831.

How it was tested

• All nine edited files parse as well-formed XML; prettier (with @prettier/plugin-xml, repo
  settings) reports no formatting change.
• Repo-wide grep confirms no GetMasks2DFromPointQuery site still sets a *_model_path port, and
  that no other SAM2-point-query port declarations were missed.
• Full-stack validation is this PR's CI, which builds against moveit_pro#21156's image via the
  needs: token.

Release notes

None

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 34 passed
• hangar_sim
  • ❌ jazzy: no report produced — see run logs