Rewrite insert object functionality from scratch

[oscar-lima]

• Currently the place obj server is reused by generating 2 place configurations on top of the klt.
• This effectively "drops" the object inside the klt but does not really gently inserts the object inside.
• The ongoing refactoring of the place module is slowly removing all hacks which will make very difficult to keep the current approach alive (and neither we want to...)

So the idea for this project is to develop a new insert object node from scratch, perhaps using the Task constructor (see #2), suggested workflow is as follows:

• robot picks an object
• robot moves arm to place the object on top of the container
• arm performs a linear motion down until a force is sensed
• upon feeling resistance go a bit up and open gripper
• retract arm fully by performing a linear motion up
• done, now the object is inserted gently at the bottom of the container