chess-sim: RL pilot summary and code (rl_env, rl_policy, rl_train, rl_check; eval_policy --fast/--expert-fp32)

chess-sim: perturbed-teacher (DART) results: paired test, grasp traces, summary; code

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chess-sim: near-board replanning test (partial, stopped) and eval_policy.py with --replan-near

code: grasp_trace, drive substep hook, SIM_OFFSAMPLES switch

code: pipeline check, set_norm_stats, explicit optimizer hook

chess-sim code: v2 corrections, precision metrics, jaw tolerance test

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chess-sim code README: new scripts

chess-sim code: baseline profile, diagnostics, grasp inspection, correction demos

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