Pickup action recovery

[alex-mitrevski]

Related to #217

If a pickup failure is detected by the grasp verification module, the action should go into a recovery mode. The simplest form of recovery would be resetting and repeating the grasp sequence. Here, care should be taken about where the robot starts the sequence from since the base may move during grasping; in other words, the robot should go back to its original position before it retries grasping the same object without reperceiving.

A better form of recovery would be rescanning the scene so that the new relative position of the desired object is determined, but that depends on #73 being solved first.