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how to show custom menu in category and its posts?

I have a category X of posts. The category page and it's individual posts are all part of a custom menu consisting of pages and posts. My submenu, in the sidebar, works fine for showing on the pages, but doesn't show up at all on the category page or any of its posts. How can I get it to show up?

edit: I solved this, see below (in the comments) for explanations of my two solutions.

solution 1:

<?php if( is_singular('menus')) { ?> 
  <nav role="inner"> 
    <ul><?php wp_list_pages('title_li=&child_of=8'); ?></ul> 
  </nav> 
<?php } ?>

Solution 2:

<?php if( is_singular('venues'))  { ?>
  <nav role="inner">
    <?php wp_nav_menu(array ("theme_location" => "venue-menu")) ?>
  </nav>
<?php } ?>