feat(sim): add external simulation provider contract

[Nabla7]

What changed

This adds a small external simulation-provider boundary to DimOS:

• GlobalConfig.simulation_provider selects an installed provider.
• dimos.simulation.providers defines SimulationRequest, SimulationBinding, and entry-point discovery.
• The existing G1 GR00T blueprint is the reference consumer. Its hardware and legacy MuJoCo paths remain intact; --simulation-provider pimsim selects the external backend.
• The provider returns a normal DimOS Blueprint, simulated-hardware adapter identity/address, and Rerun configuration.

Runtime trace

1. dimos --simulation mujoco --simulation-provider pimsim ... run unitree-g1-groot-wbc resolves ordinary GlobalConfig.
2. The ordinary G1 blueprint loads the pimsim entry point from dimos.simulation.providers.
3. PimSim returns a SimulationBinding.
4. DimOS composes binding.backend with ControlCoordinator, mapping, navigation, and visualization.
5. ModuleCoordinator deploys those modules through the normal forkserver worker system.
6. ControlCoordinator exchanges high-rate joint commands/state with the simulated hardware adapter through the shared-memory ABI.
7. Camera, lidar, odometry, TF, and other application data remain ordinary typed DimOS streams over the configured transport. RPC remains ordinary DimOS RPC.

PimSim is therefore not a second runtime around DimOS. It supplies simulator-facing DimOS modules and a binding; DimOS still owns composition, workers, lifecycle, transports, control, and application behavior.

Reference implementation and trace:

• PimSim provider
• PimSim integration architecture

Review order

This branch deliberately keeps three prerequisites until their PRs merge:

• refactor(sim): move shared-memory control ABI to hardware #3372: simulation shared-memory hardware ABI
• fix(config): preserve runtime objects in blueprint configuration #3373: preserve callable/opaque blueprint runtime values across workers
• fix(zenoh): route local sessions through the coordinator router #3374: reliable local Zenoh routing across coordinator and workers

After those merge, this PR's net review surface becomes four files:

• dimos/core/global_config.py
• dimos/simulation/providers.py
• dimos/simulation/test_providers.py
• dimos/robot/unitree/g1/blueprints/basic/unitree_g1_groot_wbc.py

The old shared branch was updated by a normal merge and scope-reduction commit; its history and existing links were not rewritten.

Validation

• 78 DimOS tests covering the three prerequisites, provider loading, and blueprint generation
• 11 PimSim integration tests covering provider bindings, G1 lidar, and DimSim apartment compatibility
• G1 provider construction resolves to PimSimG1 + ControlCoordinator + mapping + navigation + standard visualization
• Repository pre-commit hooks passed

The xArm, Go2, manipulation UI, pick/place, G1 mapping overhaul, E2E parity, scene cooking, scene data, and macOS CLIP changes are preserved on separate focused branches and are intentionally outside this review.

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[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
3508	1	3507	174

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

dimos.codebase_checks.test_no_all::test_no_all

Stack Traces | 7.04s 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             - .../blueprints/basic/go2_platform.py:55
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('/home/runne.../basic/go2_platform.py'), 55), (PosixPath('.../dimos/dimos/dimos/simulation/engines/mujoco_shm.py'), 43)]
listing    = '  - hardware/simulation/shared_memory.py:480\n  - .../blueprints/basic/go2_platform.py:55\n  - simulation/engines/mujoco_shm.py:43'

dimos/codebase_checks/test_no_all.py:51: AssertionError

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