gistfile1.txt

    // ====================== Current State ====================== //
	{
		auto _current_state = std::make_unique<stages::CurrentState>("current state");
		t.add(std::move(_current_state));
	}
	// ====================== test container ====================== //
	{ 
		// auto test_container = std::make_unique<SerialContainer>("test container"); //calculate and run both serially
		// auto test_container = std::make_unique<Alternatives>("test container"); //calculate both and possible run both seperatly 
		// auto test_container = std::make_unique<Fallbacks>("test container"); //calculate and run either of
		auto test_container = std::make_unique<Merger>("test container");//calculate and run both same time

		{ 
			auto test_container2 = std::make_unique<SerialContainer>("test container2");  //worked fine !!
			// ====================== 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_container2->insert(std::move(stage));
			}

			// ====================== 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);
				// t.add(std::move(stage));
				test_container2->insert(std::move(stage));
			}
			test_container.insert(std::move(test_container2));
		}

		{ 
			auto test_container2 = std::make_unique<SerialContainer>("test container2");  //worked fine !!
			// ====================== 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_container2->insert(std::move(stage));
			}

			// ====================== Open Hand ====================== //
			{
				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);
				// t.add(std::move(stage));
				test_container2->insert(std::move(stage));
			}
			test_container.insert(std::move(test_container2));
		}

		t.add(std::move(test_container));
	}