Allow RobotState::setFromIK to work with subframes (backport #3077)

[mergify]

Description

Fixes #3072

• Adds passing regression / sanity tests which verify that a RobotState can setFromIK with a collision object
• Adds failing tests demonstrating that RobotState cannot setFromIK with a subframe
• Fixes failing tests by modifying RobotState::setFromIK to consider subframes
• Adds some helper functions to the pilz tests for attaching objects / subframes and checking joint values

I tried adding the tests directly to the robot state tests, however, I was getting issues with no kinematic solver being associated with the planning group of the OneRobot fixture.

Pilz already had a test which was checking setFromIK, and appears to be setup with a kinematic solver, so I've added the tests there.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI (no GUI changes)
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

---

This is an automatic backport of pull request #3077 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of ab34495 has failed:

On branch mergify/bp/iron/pr-3077
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Changes to be committed:
	modified:   moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   moveit_core/robot_state/src/robot_state.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[TSNoble]

@sea-bass Happy to close on Iron EOL?