With this PR, we will add the benchmark scenario which moveit_task_constructor is used for solving complex problems. You can also get what is done in scenario in this documentation.

Scenario:

1. Spawn demo scene
2. Initialize task
3. Plan for task
4. Execute plan
5. Destroy demo scene
6. go to step 1 if the benchmark repetitions isn't complete

Below is the benchmark results for scenario moveit task constructor