parallel_container_in_series.cpp

	// ====================== test container ====================== //
	{ 
		auto test_container = std::make_unique<Merger>("test container");

		// ====================== Move to Home ====================== //
		{
			auto stage = std::make_unique<stages::MoveTo>("move home", sampling_planner);
			stage->setGroup(arm_group_name_);
			stage->setGoal(arm_home_pose_);
			stage->restrictDirection(stages::MoveTo::FORWARD);
			test_container->insert(std::move(stage));
		}

		// ====================== Move to Home 2 ====================== //
		{
			auto stage = std::make_unique<stages::MoveTo>("move home2", sampling_planner);
			stage->setGroup(arm2_group_name_);
			stage->setGoal(arm2_home_pose_);
			stage->restrictDirection(stages::MoveTo::FORWARD);
			test_container->insert(std::move(stage));
		}

		t.add(std::move(test_container)); //t is task
	}

        // ====================== test container ====================== //
	{ 
		auto test_container = std::make_unique<Merger>("test container");

		// ====================== Open Hand ====================== //
		{
			auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
			stage->setGroup(hand_group_name_);
			stage->setGoal(hand_open_pose_);
			stage->restrictDirection(stages::MoveTo::FORWARD);
			test_container->insert(std::move(stage));
		}

		// ====================== Open Hand 2====================== //
		{
			auto stage = std::make_unique<stages::MoveTo>("open hand2", sampling_planner);
			stage->setGroup(hand2_group_name_);
			stage->setGoal(hand2_open_pose_);
			stage->restrictDirection(stages::MoveTo::FORWARD);
			test_container->insert(std::move(stage));
		}

		t.add(std::move(test_container)); //t is task
	}