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OK finally understood the issue, since it kept coming back again and again.

So the planning frame is usually the root of the URDF model (unless a virtual joint is defined in the SRDF model). The virtual joint defined for husky_ur5 SRDF is

<virtual_joint name="virtual_joint" type="fixed" parent_frame="base_link" child_link="base_footprint" />

Hence the planning is done wrt base_link

More details here: https://groups.google.com/forum/#!msg/moveit-users/a3W5sQcxRAM/9jNumXqwUvAJ