[GATE] Transfer the complete iteration loop to a physical arm

[qilinxiaoxiang]

Problem IDs: P0, P1, P4, P6

Objective

Move rollout capture, verification, failure diagnosis, corrective data, policy update, and regression testing to an available physical arm.

Preserve safety limits, emergency stop, calibration, timing, and failed-run artifacts.

Acceptance

At least one policy update is justified by physical failure evidence and re-evaluated on the same hardware. A well-instrumented negative result passes.