<root BTCPP_format="4">
  <BehaviorTree ID="MainTree">
    <Sequence name="root">
      <!-- Retry vision + hand until HandControl_H succeeds -->
      <RetryUntilSuccessful name="retry_vision_hand" num_attempts="5">
        <Sequence>
          <VisionObjectRecognition_H name="VisionObjectRecognition_H" />
          <Arm_H name="Arm_H" />
        </Sequence>
      </RetryUntilSuccessful>
      <!-- After Arm_H eventually succeeds, run the hand -->
      <HandControl_H name="HandControl_H" />
    </Sequence>
  </BehaviorTree>
</root>
