Fix place pose generation IK frame in MTC Tutorial #727
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rhaschke
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(cherry picked from commit 35048cb) # Conflicts: # doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
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Per the discussion in #723, this PR fixes the IK frame in the MTC tutorial's place pose generation so that the object is not incorrectly rotated by sampling placements in the end effector frame rather than the object frame.
Closes #723