Add expanded place atomic action demo

[skywhite1024]

Summary

• Add object-centric PlaceTarget and HeldObjectState for passing held-object pose context from pickup to place.
• Extend PlaceAction to compute EEF targets from object target poses and support optional release vs keep-grasp behavior.
• Add place_exband_atomic_actions.py demo using UR5 + DH_PGI gripper with move -> pick_up -> expanded place modes.
• Add a static table in the demo so the fallen bottle is supported before pickup and after release.

Validation

• python -m py_compile scripts/tutorials/atomic_action/place_exband_atomic_actions.py
• git diff --check -- scripts/tutorials/atomic_action/place_exband_atomic_actions.py

Notes

• This is P0 object-centric airborne place with optional release.
• Stable support/contact placement, grasp-frontier selection, and collision-aware planning are left for follow-up work.