Fix: Sort Blocks re-grasps removed blocks and fails when the table is cleared (v8.10 backport)

[fdavulcu]

Backports two merged fixes for the dual_arm_sim Sort Blocks objective to v8.10.

Stale point-cloud vector (backport of #647): Create Point Cloud Vector From Masks reset {pose_stamped_vector}, but the ForEach builds {point_cloud_vector} — detections accumulated, so Find with prompt's GetElementOfVector index="0" always returned the stalest detection (a removed block). Now resets {point_cloud_vector} via ResetVector.

Graceful completion (backport of #738): wraps the KeepRunningUntilFailure loop in ForceSuccess so a cleared table reports success; the trailing CLIPSeg "no masks" message is the expected end-of-run signal (noted in the tree description).

The sort_blocks.xml diff is whitespace-dominated: prettier reindents the loop body when it's wrapped in ForceSuccess. The semantic change is just the ForceSuccess decorator and the tree description — view with ?w=1 / "Hide whitespace."

[coderabbitai]

📝 Walkthrough

Summary by CodeRabbit

• Bug Fixes

  • Updated a simulation sequence to reset the correct vector during setup, improving initial state handling for point cloud processing.

• Documentation

  • Added a clearer description for the “Sort Blocks” behavior tree, including what the sequence does and the expected warning when a color runs out.

Walkthrough

One objective tree now resets point_cloud_vector instead of pose_stamped_vector, and another updates its top-level BehaviorTree description to explain the block-clearing behavior and the expected CLIPSeg no-masks condition.

Changes

Point Cloud Reset Target

Layer / File(s)	Summary
Reset action switch src/moveit_pro_franka_configs/dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xml	The sequence reset step now calls ResetVector for point_cloud_vector instead of ResetPoseStampedVector for pose_stamped_vector.

Sort Blocks Description

Layer / File(s)	Summary
BehaviorTree description update src/moveit_pro_franka_configs/dual_arm_sim/objectives/sort_blocks.xml	The _description attribute changes from empty text to an explanatory message about clearing colored blocks and the expected CLIPSeg no-masks condition when a color runs out.

Possibly related PRs

• PickNikRobotics/moveit_pro_example_ws#738: Changes the same sort_blocks.xml BehaviorTree description text.

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The description accurately matches the backported Sort Blocks fixes and the XML changes in the diff.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Human Review Check	✅ Passed	Only two XML objectives in moveit_pro_franka_configs changed; no auth/infra/API/core behavior packages are touched, so this is low-risk.

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[coderabbitai]

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@src/moveit_pro_franka_configs/dual_arm_sim/objectives/sort_blocks.xml`:
- Around line 3-7: The Sort Blocks objective is missing the required metadata
description entry, so `validate_objectives` will still reject it despite the
`_description` attribute on `BehaviorTree`. Update the `sort_blocks.xml`
objective to include a `<Metadata description="...">` entry consistent with the
tree’s current description, and make sure the `TreeNodesModel` metadata
requirements remain satisfied alongside `subcategory` in the objective
definition.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

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ℹ️ Review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

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Run ID: bfc265f8-c6b8-4f7c-96f6-745905e527d9

📥 Commits

Reviewing files that changed from the base of the PR and between 18edcb7 and 4543585.

📒 Files selected for processing (2)

• src/moveit_pro_franka_configs/dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xml
• src/moveit_pro_franka_configs/dual_arm_sim/objectives/sort_blocks.xml