From 66a9b025daad85bc8bc7b5e159f02bdceaec9241 Mon Sep 17 00:00:00 2001
From: Griswald Brooks <griswald.brooks@gmail.com>
Date: Mon, 11 May 2026 17:54:23 -0400
Subject: [PATCH 1/2] fix: Correct description for Segment Point Cloud from
 Text Prompt Subtree

The description was copied from the clicked-point variant and described
click-based segmentation. Update it to describe text-prompt segmentation.

Fixes #15651

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 .../objectives/segment_point_cloud_from_text_prompt_subtree.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml
index ddaaf0fe..6942ecae 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml
@@ -6,7 +6,7 @@
   <!--//////////-->
   <BehaviorTree
     ID="Segment Point Cloud from Text Prompt Subtree"
-    _description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
+    _description="Captures a point cloud and runs text-based segmentation on the camera image using the given text prompts. The point cloud is then filtered to only include the regions matching the prompts."
     _favorite="false"
     camera_topic_name="/wrist_camera/camera_info"
     image_topic_name="/wrist_camera/color"

From 1b36a14382d350c5280009235211c2c9ab5f75f1 Mon Sep 17 00:00:00 2001
From: Griswald Brooks <griswald.brooks@gmail.com>
Date: Mon, 11 May 2026 18:01:05 -0400
Subject: [PATCH 2/2] fix: Correct description for dual_arm_sim text prompt
 subtree

Same copy-paste error as the picknik_ur_base_config variant.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml b/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml
index c33bb5b8..fb0b20ef 100644
--- a/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml
+++ b/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml
@@ -6,7 +6,7 @@
   <!--//////////-->
   <BehaviorTree
     ID="Segment Point Cloud from Text Prompt Subtree"
-    _description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
+    _description="Captures a point cloud and runs text-based segmentation on the camera image using the given text prompts. The point cloud is then filtered to only include the regions matching the prompts."
     _favorite="false"
     camera_topic_name="/wrist_camera/camera_info"
     image_topic_name="/wrist_camera/color"