Grasp pose rotation

This was a lingering todo in the code:
```
// turn on Z axis //TODO parametrize this
```

That allows the Clam arm to have its grasps rotated 90 deg based on different robot's different geometry. 

@bmagyar i didn't know if you might want to review

when this was enabled, we experienced big bumps in the responsiveness of the planner, can you make this a startup param?