From 740e415ef7b6ce9bea3a2e6d9d2619ac7707e5bb Mon Sep 17 00:00:00 2001
From: Joe Schornak <joe.schornak@gmail.com>
Date: Wed, 26 Jul 2023 20:03:59 -0400
Subject: [PATCH] replace use of ForEachCollisionObject with
 ForEachGraspableObject

---
 .../objectives/looping_pick_and_place_object.xml              | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml b/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
index c8cfeb94..bfff535b 100644
--- a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
+++ b/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
@@ -34,10 +34,10 @@
                                             <!-- Detect all cuboids in that point cloud-->
                                             <Action ID="FindSingularCuboids" point_cloud="{point_cloud}" parameters="{parameters}" detected_shapes="{cuboids}"/>
                                             
-                                            <!-- Get the first detected cuboid. NOTE: this is a small hack to get ForEachCollisionObject to iterate just once, which returns the first object in the vector. -->
+                                            <!-- Get the first detected cuboid. NOTE: this is a small hack to get ForEachGraspableObject to iterate just once, which returns the first object in the vector. -->
                                             <Control ID="Sequence">
                                                 <Decorator ID="ForceSuccess">
-                                                    <Decorator ID="ForEachCollisionObject" vector_in="{cuboids}" out="{cuboid_object}">
+                                                    <Decorator ID="ForEachGraspableObject" vector_in="{cuboids}" out="{cuboid_object}">
                                                         <Control ID="Sequence">
                                                             <Action ID="AlwaysFailure"/>
                                                         </Control>