From 06eecdc5cb953b01b054a2d73b22c388aa45ab7c Mon Sep 17 00:00:00 2001
From: David Yackzan <dwyackzan@gmail.com>
Date: Mon, 23 Dec 2024 08:59:12 -0500
Subject: [PATCH] Update ForEach[Type] -> ForEach

---
 .../objectives/pick_first_object_in_vector.xml   |  6 +-----
 .../objectives/place_first_object_in_vector.xml  |  6 +-----
 src/lab_sim/objectives/plan_to_pose.xml          |  2 +-
 src/lab_sim/objectives/run_sam2_onnx.xml         |  2 +-
 .../objectives/test.xml                          | 16 ----------------
 .../objectives/pick_first_object_in_vector.xml   |  6 +-----
 .../objectives/pick_object.xml                   |  6 +-----
 .../objectives/pick_first_object_in_vector.xml   |  6 +-----
 .../objectives/place_first_object_in_vector.xml  |  6 +-----
 .../objectives/close_cabinet_door.xml            |  6 +-----
 .../objectives/detect_door_graspable_object.xml  |  8 ++------
 .../detect_fixed_handle_graspable_object.xml     |  4 ++--
 .../objectives/detect_hinge_line_segment.xml     |  2 +-
 .../detect_lever_handle_line_segment.xml         |  2 +-
 .../objectives/inspect_surface.xml               |  6 +-----
 .../objectives/looping_pick_and_place_object.xml |  4 ++--
 .../objectives/open_cabinet_door.xml             |  8 ++------
 .../objectives/open_door_fixed_handle_ml.xml     |  2 +-
 .../objectives/open_door_lever_handle_ml.xml     |  2 +-
 .../objectives/open_lever_handle_door.xml        |  2 +-
 .../objectives/pick_object.xml                   |  6 +-----
 .../objectives/pick_place_object.xml             |  4 ++--
 .../objectives/push_button.xml                   |  6 +-----
 .../objectives/push_button_ml.xml                |  8 ++------
 .../objectives/sam_pick_object.xml               |  8 ++------
 .../objectives/teach_apriltag_grasp_offset.xml   |  2 +-
 26 files changed, 32 insertions(+), 104 deletions(-)
 delete mode 100644 src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/test.xml

diff --git a/src/lab_sim/objectives/pick_first_object_in_vector.xml b/src/lab_sim/objectives/pick_first_object_in_vector.xml
index b153b8a1..6904d6bb 100644
--- a/src/lab_sim/objectives/pick_first_object_in_vector.xml
+++ b/src/lab_sim/objectives/pick_first_object_in_vector.xml
@@ -6,11 +6,7 @@
     _subtreeOnly="true"
     _description=""
   >
-    <Decorator
-      ID="ForEachPoseStamped"
-      vector_in="{pose_vector}"
-      out="{grasp_pose}"
-    >
+    <Decorator ID="ForEach" vector_in="{pose_vector}" out="{grasp_pose}">
       <Control ID="Sequence">
         <Action
           ID="LoadObjectiveParameters"
diff --git a/src/lab_sim/objectives/place_first_object_in_vector.xml b/src/lab_sim/objectives/place_first_object_in_vector.xml
index efde08c0..03faaad7 100644
--- a/src/lab_sim/objectives/place_first_object_in_vector.xml
+++ b/src/lab_sim/objectives/place_first_object_in_vector.xml
@@ -6,11 +6,7 @@
     _subtreeOnly="true"
     _description=""
   >
-    <Decorator
-      ID="ForEachPoseStamped"
-      vector_in="{pose_vector}"
-      out="{grasp_pose}"
-    >
+    <Decorator ID="ForEach" vector_in="{pose_vector}" out="{grasp_pose}">
       <Control ID="Sequence">
         <Action
           ID="LoadObjectiveParameters"
diff --git a/src/lab_sim/objectives/plan_to_pose.xml b/src/lab_sim/objectives/plan_to_pose.xml
index 066fac12..ce3d0144 100644
--- a/src/lab_sim/objectives/plan_to_pose.xml
+++ b/src/lab_sim/objectives/plan_to_pose.xml
@@ -15,7 +15,7 @@
       <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
       <Action ID="Script" code="pose_ctr := 0" />
       <Decorator
-        ID="ForEachPoseStamped"
+        ID="ForEach"
         vector_in="{target_poses}"
         out="{target_pose}"
         index="{index}"
diff --git a/src/lab_sim/objectives/run_sam2_onnx.xml b/src/lab_sim/objectives/run_sam2_onnx.xml
index 181bcd83..f05b6821 100644
--- a/src/lab_sim/objectives/run_sam2_onnx.xml
+++ b/src/lab_sim/objectives/run_sam2_onnx.xml
@@ -27,7 +27,7 @@
         timeout_sec="5.000000"
       />
       <Action ID="GetMasks3DFromMasks2D" />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
+      <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}">
         <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" />
       </Decorator>
       <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" />
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/test.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/test.xml
deleted file mode 100644
index eebdaa56..00000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/test.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="test">
-  <!--//////////-->
-  <BehaviorTree ID="test" _description="" _favorite="false" _hardcoded="false">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="AlwaysSuccess" />
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="51mm_apriltag_detection_config.yaml"
-      />
-      <Action ID="GetCameraInfo" topic_name="/wrist_camera/camera_info" />
-      <Action ID="GetImage" topic_name="/wrist_camera/color" />
-      <Action ID="DetectAprilTags" parameters="{parameters}" />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml
index 08e9b6a6..7aca23cb 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml
@@ -2,11 +2,7 @@
 <root BTCPP_format="4" main_tree_to_execute="Pick first object in vector">
   <!--//////////-->
   <BehaviorTree ID="Pick first object in vector">
-    <Decorator
-      ID="ForEachPoseStamped"
-      vector_in="{pose_vector}"
-      out="{grasp_pose}"
-    >
+    <Decorator ID="ForEach" vector_in="{pose_vector}" out="{grasp_pose}">
       <Control ID="Sequence">
         <Action
           ID="LoadObjectiveParameters"
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_object.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_object.xml
index 9c403326..66ae7bba 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_object.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_object.xml
@@ -26,11 +26,7 @@
           output_poses="{output_poses}"
         />
         <!--Flip the direction of the grasp pose-->
-        <Decorator
-          ID="ForEachPoseStamped"
-          vector_in="{output_poses}"
-          out="{flipped_pose}"
-        >
+        <Decorator ID="ForEach" vector_in="{output_poses}" out="{flipped_pose}">
           <Action
             ID="TransformPose"
             output_pose="{corrected_pose}"
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml
index 3efa8f15..e3f0fb45 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml
@@ -6,11 +6,7 @@
     _subtreeOnly="true"
     _description=""
   >
-    <Decorator
-      ID="ForEachPoseStamped"
-      vector_in="{pose_vector}"
-      out="{grasp_pose}"
-    >
+    <Decorator ID="ForEach" vector_in="{pose_vector}" out="{grasp_pose}">
       <Control ID="Sequence">
         <Action
           ID="LoadObjectiveParameters"
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/place_first_object_in_vector.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/place_first_object_in_vector.xml
index efde08c0..03faaad7 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/place_first_object_in_vector.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/place_first_object_in_vector.xml
@@ -6,11 +6,7 @@
     _subtreeOnly="true"
     _description=""
   >
-    <Decorator
-      ID="ForEachPoseStamped"
-      vector_in="{pose_vector}"
-      out="{grasp_pose}"
-    >
+    <Decorator ID="ForEach" vector_in="{pose_vector}" out="{grasp_pose}">
       <Control ID="Sequence">
         <Action
           ID="LoadObjectiveParameters"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/close_cabinet_door.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/close_cabinet_door.xml
index fcca6052..cd5f9bc5 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/close_cabinet_door.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/close_cabinet_door.xml
@@ -36,11 +36,7 @@
           neighbor_radius="0.1"
           output_poses="{output_poses}"
         />
-        <Decorator
-          ID="ForEachPoseStamped"
-          vector_in="{output_poses}"
-          out="{pose}"
-        >
+        <Decorator ID="ForEach" vector_in="{output_poses}" out="{pose}">
           <Control ID="Sequence">
             <Action
               ID="TransformPose"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_door_graspable_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
index df7751cf..40387560 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
@@ -53,7 +53,7 @@
         camera_info="{camera_info}"
         masks3d="{masks3d}"
       />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
+      <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action
             ID="GetPointCloudFromMask3D"
@@ -82,11 +82,7 @@
         />
       </Decorator>
       <Decorator ID="ForceSuccess">
-        <Decorator
-          ID="ForEachGraspableObject"
-          vector_in="{door_objects}"
-          out="{door_object}"
-        >
+        <Decorator ID="ForEach" vector_in="{door_objects}" out="{door_object}">
           <Action ID="AlwaysFailure" />
         </Decorator>
       </Decorator>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml
index f6ced3a6..5c68521b 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml
@@ -53,7 +53,7 @@
         camera_info="{camera_info}"
         masks3d="{masks3d}"
       />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
+      <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action
             ID="GetPointCloudFromMask3D"
@@ -81,7 +81,7 @@
       />
       <Decorator ID="ForceSuccess">
         <Decorator
-          ID="ForEachGraspableObject"
+          ID="ForEach"
           vector_in="{handle_objects}"
           out="{handle_object}"
         >
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_hinge_line_segment.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_hinge_line_segment.xml
index e7ef9475..70e8c9c3 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_hinge_line_segment.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_hinge_line_segment.xml
@@ -48,7 +48,7 @@
         masks3d="{masks3d}"
       />
       <Decorator ID="ForceSuccess">
-        <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
+        <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}">
           <Action ID="AlwaysFailure" />
         </Decorator>
       </Decorator>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_lever_handle_line_segment.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_lever_handle_line_segment.xml
index 94da04e0..758565aa 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_lever_handle_line_segment.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/detect_lever_handle_line_segment.xml
@@ -49,7 +49,7 @@
         camera_info="{camera_info}"
         masks3d="{masks3d}"
       />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
+      <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action
             ID="GetPointCloudFromMask3D"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml
index b83cb44c..104a3f4d 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml
@@ -33,11 +33,7 @@
         neighbor_radius="0.1"
         output_poses="{output_poses}"
       />
-      <Decorator
-        ID="ForEachPoseStamped"
-        vector_in="{output_poses}"
-        out="{pose}"
-      >
+      <Decorator ID="ForEach" vector_in="{output_poses}" out="{pose}">
         <Control ID="Sequence">
           <Action
             ID="TransformPose"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
index ebd6aa5c..90f9cdce 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
@@ -76,11 +76,11 @@
                         detected_shapes="{cuboids}"
                       />
 
-                      <!-- 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. -->
+                      <!-- Get the first detected cuboid. NOTE: this is a small hack to get ForEach to iterate just once, which returns the first object in the vector. -->
                       <Control ID="Sequence">
                         <Decorator ID="ForceSuccess">
                           <Decorator
-                            ID="ForEachGraspableObject"
+                            ID="ForEach"
                             vector_in="{cuboids}"
                             out="{cuboid_object}"
                           >
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_cabinet_door.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_cabinet_door.xml
index 55b2b4b7..2c8c64b7 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_cabinet_door.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_cabinet_door.xml
@@ -61,11 +61,7 @@
         output_poses="{hinge_poses}"
       />
       <!--Set up Subframes for MTC-->
-      <Decorator
-        ID="ForEachPoseStamped"
-        vector_in="{grasp_poses}"
-        out="{grasp_pose}"
-      >
+      <Decorator ID="ForEach" vector_in="{grasp_poses}" out="{grasp_pose}">
         <Action
           ID="GetMoveAlongArcSubframes"
           target_grasp_pose="{grasp_pose}"
@@ -87,7 +83,7 @@
       />
       <!--Add the subframes to the Object-->
       <Decorator
-        ID="ForEachObjectSubframe"
+        ID="ForEach"
         vector_in="{move_along_arc_subframes}"
         out="{subframe}"
       >
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
index e3f2f308..c06ba096 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
@@ -92,7 +92,7 @@
       />
       <!-- Add the subframes to the Object-->
       <Decorator
-        ID="ForEachObjectSubframe"
+        ID="ForEach"
         vector_in="{move_along_arc_subframes}"
         out="{subframe}"
       >
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
index 450556ef..b73cbed0 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
@@ -55,7 +55,7 @@
         grasp_and_twist_subframes="{grasp_and_twist_subframes}"
       />
       <Decorator
-        ID="ForEachObjectSubframe"
+        ID="ForEach"
         vector_in="{grasp_and_twist_subframes}"
         out="{subframe}"
       >
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_lever_handle_door.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_lever_handle_door.xml
index 6c09dc1e..74fc9c9e 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_lever_handle_door.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_lever_handle_door.xml
@@ -76,7 +76,7 @@
       />
       <!--Add the subframes to the Object-->
       <Decorator
-        ID="ForEachObjectSubframe"
+        ID="ForEach"
         vector_in="{grasp_and_twist_subframes}"
         out="{subframe}"
       >
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_object.xml
index 2bb981ba..81f7edea 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_object.xml
@@ -40,11 +40,7 @@
           adjusted_poses="{adjusted_poses}"
         />
       </Control>
-      <Decorator
-        ID="ForEachPoseStamped"
-        vector_in="{adjusted_poses}"
-        out="{grasp_pose}"
-      >
+      <Decorator ID="ForEach" vector_in="{adjusted_poses}" out="{grasp_pose}">
         <Control ID="Sequence">
           <Action
             ID="InitializeMTCTask"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_place_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_place_object.xml
index 573b2dee..3a347ddc 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_place_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_place_object.xml
@@ -78,7 +78,7 @@
                 adjusted_poses="{adjusted_poses}"
               />
               <Decorator
-                ID="ForEachPoseStamped"
+                ID="ForEach"
                 vector_in="{adjusted_poses}"
                 out="{grasp_pose}"
               >
@@ -208,7 +208,7 @@
                             adjusted_poses="{adjusted_poses}"
                           />
                           <Decorator
-                            ID="ForEachPoseStamped"
+                            ID="ForEach"
                             vector_in="{adjusted_poses}"
                             out="{grasp_pose}"
                           >
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml
index 2c6e75e9..5332fb9f 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml
@@ -36,11 +36,7 @@
           neighbor_radius="0.1"
           output_poses="{output_poses}"
         />
-        <Decorator
-          ID="ForEachPoseStamped"
-          vector_in="{output_poses}"
-          out="{pose}"
-        >
+        <Decorator ID="ForEach" vector_in="{output_poses}" out="{pose}">
           <Control ID="Sequence">
             <Action
               ID="TransformPose"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml
index 53359d83..c9a0e65f 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -55,7 +55,7 @@
         camera_info="{camera_info}"
         masks3d="{masks3d}"
       />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
+      <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action
             ID="GetPointCloudFromMask3D"
@@ -81,11 +81,7 @@
         graspable_objects="{graspable_objects}"
       />
       <Decorator ID="ForceSuccess">
-        <Decorator
-          ID="ForEachGraspableObject"
-          vector_in="{graspable_objects}"
-          out="{button}"
-        >
+        <Decorator ID="ForEach" vector_in="{graspable_objects}" out="{button}">
           <Action ID="AlwaysFailure" />
         </Decorator>
       </Decorator>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/sam_pick_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/sam_pick_object.xml
index 1c82e754..f7adb0ba 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/sam_pick_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/sam_pick_object.xml
@@ -76,7 +76,7 @@
         camera_info="{camera_info}"
         masks3d="{masks3d}"
       />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
+      <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action
             ID="GetPointCloudFromMask3D"
@@ -102,11 +102,7 @@
         face_separation_threshold="0.025000"
         point_cloud="{point_cloud}"
       />
-      <Decorator
-        ID="ForEachGraspableObject"
-        vector_in="{objects}"
-        out="{object}"
-      >
+      <Decorator ID="ForEach" vector_in="{objects}" out="{object}">
         <Control ID="Sequence">
           <Action
             ID="InitializeMTCTask"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/teach_apriltag_grasp_offset.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/teach_apriltag_grasp_offset.xml
index 09e14b60..30365aec 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/teach_apriltag_grasp_offset.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/teach_apriltag_grasp_offset.xml
@@ -48,7 +48,7 @@
         output_pose="{tag_pose_world}"
       />
       <Decorator
-        ID="ForEachPoseStamped"
+        ID="ForEach"
         vector_in="{adjusted_poses}"
         out="{user_grasp_pose}"
       >