Parts attach to gripper at a distance

Sometimes the part that gets attached to the gripper is not touching it.

example config file that causes it:

# Competition configuration options
options:
  spawn_extra_models: true  # start with part near gripper

models_to_spawn:
  world:
    models:
      part_to_drop:
        type: part4
        pose:
          xyz: [0.1, 2.62, 1.65]
          rpy: [0, 0, 0]

# Competitor trial configuration options

arm:
  type: ur10
  initial_joint_states:
    wrist_1_joint: 2.0
    linear_arm_actuator_joint: 1.85
    shoulder_pan_joint: 1.63

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