Remove the submit tools and the solve and learn prompts

[yichao-liang]

Summary

Stacked on #190 (base empiric-phased-cleanup); review and merge after it.

The phased solve sessions delivered plans through submit_plan and submit_policy.
Their capture gate re-ran each plan before accepting it: repeat rollouts, physics and rule-parameter margins, a necessity check and a robot-clearance probe.
The continual arms never had these tools; they rehearse plans with the sim probe inside run_python.
This removes the tools and what only they used: 79 files, about 8.7k lines.

Deleted:

• tools/testing.py, tools/capture.py, tools/tasks.py and tools/clearance.py;
• sketch_prompts.py, learn_prompts.py, the solve_* and learn_* templates, and their goldens and tests;
• the attempt deadline and the capture fields on ToolContext;
• the standalone arm's particle override scope;
• the journal's strategy document and test-phase rollback helpers;
• the skills' contact_objects hook, which only the clearance probe read;
• 14 settings flags without a reader, including agent_plan_validation_rule_param_margin and agent_plan_validation_physics_margin, which the no-uncertainty and real-to-sim arms only checked were off.

Moved: _policy_source_path into tools/verdicts.py, and render_physical_params_section into play_prompts.py.

No benchmark arm changes behavior.
The rule-parameter ensemble used to be built when info-seeking or the margin gate was on; its only remaining reader is info-seeking, and every benchmark arm sets the two flags alike.
The empiric configs stop setting the three removed flags they named.

Left for a separate change: tool descriptions and probe docstrings that the agent can read still mention submit_plan (tools/exploration.py, tools/synthesis.py, notices and docstrings in belief_probe.py, the evaluate_trajectory helper).
Editing them changes the agent's prompts, so that should be its own decision.

Test plan

• yapf, isort 5.10.1, docformatter, mypy and pylint on this commit (sbatch replay of CI's static jobs).
• The 8 CI shards in the CI container.

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