[EricH]

I think it's quite possible.

Run two parallel circuits. Each has one locking switch to detect the pole, and the motor power circuit has some form of locking switch to detect the target.

Your locking circuit would be one switch (say, a light switch) to indicate the pole plus power to the servos. Ideally, there would be a second switch to indicate closing of the clamp and shut off the servos so they don't damage themselves.

Your motor power circuit would be a similar circuit to the locking one, but the target sensor would be on top, and would need to lock to the "motor off" position to prevent climbing back up.

You could also use a single switch for pole detection with both circuits going through it.