Attachment frame for Motoman robot is rotated by an unknown amount.

**Describe the bug**
Hi all, I'm a student working under Professor Bekris' Pracsys Lab at Rutgers. In the past you've made us a configuration for the motoman robot for VAMP, but we never got around to using it. Here's the link to my fork of that motoman branch https://github.com/Atlinx/vamp. I've been trying to use that VAMP fork recently to perform motion planning for our motoman robot, but I've noticed the attachment frame for the motoman robot is rotated by some unknown amount.

I've tried manually setting the attachment frame rotation to counteract this rotation, but the rotation doesn't seem to be a common number (ex. 30, 45, 90 degrees). How can I eliminate this rotation? The URDF doesn't seem to have any signs of irregular end-effector rotation, so I'm not sure where I can find this information.

**To Reproduce**
Steps to reproduce the behavior:
1. Clone the [fork](https://github.com/Atlinx/vamp), checkout the motoman branch, and install VAMP locally
3. Run the visualize_attachment.py script with the motoman robot
```
python scripts/visualize_attachment.py --robot motoman
```
4. Notice how the attachment sphere is not aligned with the end effector, and is at an angle

**Expected behavior**
The attachment sphere should be aligned with the end effector.

**Environment:**
- OS: Ubuntu 20.04
- Python version: 3.8
- GCC/Clang version: `gcc (Ubuntu 10.5.0-1ubuntu1~20.04.1+esm1) 10.5.0`