Fix: Tray Place Simple waypoint so the bottle doesn't tip

[rlpratt12]

Summary

Re-records the Tray Place Simple waypoint in lab_sim so the gripper is truly perpendicular to the tray at the place pose. The previous values left the gripper tilted just enough that the bottle fell over when Open Gripper ran at the end of the Tutorial 3 pick-and-place flow.

Why this approach

Two questions had to be answered before re-recording:

• Which waypoint is actually tilted? During a fresh runthrough, the visible tilt during descent traces back to the lower waypoint, not the hover. Joint values for Above Tray Place Simple are unchanged.
• Does anything else rely on these joint values? Checked — both waypoints are only referenced by name (waypoint_name="Tray Place Simple") from Objectives, so changing the underlying joint state is safe.

Other approaches considered and rejected:

• Adjusting just Above Tray Place Simple and leaving the lower waypoint alone — wouldn't fix the release-time tilt, which is where the bottle visibly falls over.
• Adding a fresh waypoint with a new name (e.g. Tray Place Simple v2) — would require parallel updates to every Objective and the tutorial. Replacing the joint values in place is the smaller blast radius.

Manual verification

Recorded the new pose in lab_sim with the gripper held perpendicular to the tray (Cartesian goal at gripper-down quaternion, IK-solved into joint space), saved the waypoint over the existing entry.

Related

• Fixes PickNikRobotics/moveit_pro#19225
• Companion docs cleanup in PickNikRobotics/moveit_pro#19228 reworks the surrounding Tutorial 3 framing so readers use the existing waypoints rather than being told to record them.