refactor(sim): move shared-memory control ABI to hardware

[Nabla7]

What changed

• Move the simulator/control shared-memory layout to dimos.hardware.simulation.shared_memory.
• Keep dimos.simulation.engines.mujoco_shm as a compatibility re-export.
• Point manipulator and G1 adapters, plus the legacy MuJoCo module, at the hardware-owned ABI.

Why

The shared-memory layout is the simulated hardware contract used by ControlCoordinator. It must not be owned by a particular simulation engine if external providers are expected to implement the same adapter boundary.

This is a mechanical ownership change; buffer names and data layout remain compatible.

Validation

• pytest dimos/hardware/manipulators/sim/test_shm_adapter.py dimos/hardware/test_adapter_registries.py -q
• 33 tests passed
• Repository pre-commit hooks passed

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
3503	1	3502	174

View the top 1 failed test(s) by shortest run time

dimos.codebase_checks.test_no_all::test_no_all

Stack Traces | 7.13s run time

def test_no_all():
        """Fail if any file defines `__all__`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_all_definitions()
        if hits:
            listing = "\n".join(f"  - {p.relative_to(dimos_dir)}:{lineno}" for p, lineno in hits)
>           raise AssertionError(
                f"Found __all__ definition(s) in dimos/:\n{listing}\n\n"
                "__all__ is not allowed. We don't use `from x import *`, so __all__ "
                "lists serve no purpose and are tedious to maintain. Remove them. For "
                "an import that exists purely to be re-exported, use `# noqa: F401`."
            )
E           AssertionError: Found __all__ definition(s) in dimos/:
E             - hardware/simulation/shared_memory.py:480
E             - simulation/engines/mujoco_shm.py:43
E           
E           __all__ is not allowed. We don't use `from x import *`, so __all__ lists serve no purpose and are tedious to maintain. Remove them. For an import that exists purely to be re-exported, use `# noqa: F401`.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/dimos/hardware/simulation/shared_memory.py'), 480), (PosixPath('.../dimos/dimos/dimos/simulation/engines/mujoco_shm.py'), 43)]
listing    = '  - hardware/simulation/shared_memory.py:480\n  - simulation/engines/mujoco_shm.py:43'

dimos/codebase_checks/test_no_all.py:51: AssertionError

To view more test analytics, go to the Test Analytics Dashboard
_{📋 Got 3 mins? Take this short survey to help us improve Test Analytics.}