Add approach pose before pick

[ndunkelb-nasa]

When CLR goes to pick the CTB, the grasp often clips the handle, which in sim causes the bag to shake, and in real life can sometimes depress the handle. We should add an intermediate pose, where the gripper goes to a spot just vertically above the handle (maybe like 5cm above), then just does a single vertical move down, which would eliminate the chance of a clip.