Remove L2G example workflow and model

[johannes-kepler-bot]

[written by AI]

Motivation

The ML Auto Grasp Object from Clicked Point Objective is the final current-main consumer of L2G. Its redistributed ONNX weight derives from an upstream checkpoint with no license grant, and there is no replacement for point-cloud-to-grasp generation.

This PR follows the current-documentation retirement in PickNikRobotics/moveit_pro#20655 and must land before the core L2G Behavior is removed.

Changes

• Delete ML Auto Grasp Object from Clicked Point from lab_sim.
• Delete lab_sim/models/l2g.onnx.
• Stop installing the now-empty models directory.
• Remove the deleted Objective from the integration-test skip set.

Shared grasp visualization assets and reusable non-L2G subtrees remain because other Objectives still use them.

Compatibility

This targets main for MoveIt Pro 10.0 only. The 9.4.1 tag is unchanged. The exact historical LFS object (fc1fd4a7…e0965b5) was fetched from origin and verified at 15,618,125 bytes.

Validation

• Repository-wide live-tree search: no remaining L2G, GetGraspPoseFromPointCloud, Objective-name, or model-path references.
• Objective favorites validation: passed.
• Parsed all 295 remaining Objective XML files: passed.
• Python compilation: passed.
• Changed-file pre-commit hooks: passed.
• git diff --check: passed.
• Independent final review: no blocking findings.
• ROS package build: not run locally because this host has no available Docker daemon; CI is required for the clean build/install check.

Merge order

1. PickNikRobotics/moveit_pro#20655 — current docs
2. This PR — final example consumer/model
3. Core removal under PickNikRobotics/moveit_pro#20653

Closes PickNikRobotics/moveit_pro#20652

[coderabbitai]

Caution

Review failed

The pull request is closed.

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 5b9891f4-12ab-4f87-847f-7685ef944572

📥 Commits

Reviewing files that changed from the base of the PR and between 6cfc8c0 and b48eb76.

📒 Files selected for processing (4)

• src/lab_sim/CMakeLists.txt
• src/lab_sim/models/l2g.onnx
• src/lab_sim/objectives/ml_auto_grasp_object_from_clicked_point.xml
• src/lab_sim/test/objectives_integration_test.py

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📝 Walkthrough

Summary by CodeRabbit

• Removed Features

  • Removed the “ML Auto Grasp Object from Clicked Point” objective from the available lab simulation objectives.
  • Removed its associated machine-learning model from the project.

• Bug Fixes

  • Updated objective integration coverage so the removed objective is no longer excluded from validation.

• Chores

  • Adjusted installation contents to exclude model files while retaining supported configuration and simulation resources.

Walkthrough

Removes the L2G ONNX model and auto-grasp objective, excludes the model directory from installation, and enables the objective in integration-test parameter generation.

Changes

L2G objective and model removal

Layer / File(s)	Summary
Remove L2G assets and update validation wiring src/lab_sim/CMakeLists.txt, src/lab_sim/models/l2g.onnx, src/lab_sim/objectives/ml_auto_grasp_object_from_clicked_point.xml, src/lab_sim/test/objectives_integration_test.py	The L2G model and objective are removed, the models directory is excluded from installation, and the objective is removed from the integration test skip list.

Possibly related issues

• PickNikRobotics/moveit_pro#20653 — Removes the L2G model and example behavior while updating installation and integration-test references.

Possibly related PRs

• PickNikRobotics/moveit_pro_example_ws#764 — Makes the corresponding L2G model and installation cleanup in another simulation package.

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

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 34 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 17 passed