refactor(sim): route MuJoCo control through module ports

[TomCC7]

Summary

• make MuJoCo a normal connection module with typed motor-command and robot-state ports
• use the same port-backed control coordinator contract for real and simulated G1, xArm, and Piper stacks
• remove the custom shared-memory transports, RPC layer, simulation registries, and Unitree MuJoCo subprocess IPC
• make the existing xArm keyboard-teleop blueprints simulation-aware
• enable Zenoh shared memory in the native Rust module

Architecture

ControlCoordinator
        |
        | typed module ports
        v
real connection  or  MuJoCo connection module

The coordinator keeps the synchronous hardware-adapter interface needed by the control loop. The connection module holds the latest command, applies it on each physics step, and publishes state through ordinary DimOS streams. Transport selection remains a blueprint/runtime concern.

Manual test

Until #3617 lands, select Zenoh explicitly:

dimos --simulation mujoco --transport zenoh run keyboard-teleop-xarm7

The existing keyboard controls should work without a simulator-specific teleop path.

Validation

• ./bin/pytest-fast: 4,554 passed, 33 skipped; the only failure was the blueprint generator's expected dirty-worktree check
• blueprint generation in CI comparison mode: passed
• focused control, transport, and simulation tests: 151 passed
• xArm keyboard-teleop tests: 12 passed
• simulation blueprint wiring and joint-count smoke checks: passed
• ruff check, ruff format --check, compileall, and git diff --check: passed
• cargo check --manifest-path native/rust/dimos-module/Cargo.toml: passed

Dependency

This stacks with #3617, which changes the default transport to Zenoh. This PR does not duplicate that default change.

Addresses #3671.

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Project	Status	Preview	Updated (UTC)
dimensional	🔴 Failed	–	Aug 25, 2026, 5:22 PM

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[codecov]

Codecov Report

❌ Patch coverage is 75.02959% with 211 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/simulation/mujoco/locomotion_sim.py	17.28%	67 Missing ⚠️
dimos/hardware/manipulators/port_adapter.py	64.16%	35 Missing and 8 partials ⚠️
dimos/robot/unitree/mujoco_connection.py	67.74%	32 Missing and 8 partials ⚠️
dimos/simulation/engines/mujoco_sim_module.py	58.66%	25 Missing and 6 partials ⚠️
...nitree/g1/blueprints/basic/unitree_g1_groot_wbc.py	46.66%	8 Missing ⚠️
dimos/control/port_coordinator.py	77.27%	5 Missing ⚠️
dimos/hardware/whole_body/port_adapter.py	94.44%	2 Missing and 2 partials ⚠️
dimos/hardware/manipulators/test_port_adapter.py	95.16%	3 Missing ⚠️
dimos/robot/manipulators/xarm/blueprints/teleop.py	78.57%	2 Missing and 1 partial ⚠️
dimos/control/tick_loop.py	66.66%	1 Missing and 1 partial ⚠️
... and 3 more

@@            Coverage Diff             @@
##             main    #3682      +/-   ##
==========================================
+ Coverage   77.74%   77.79%   +0.05%     
==========================================
  Files        1286     1286              
  Lines      123225   122325     -900     
  Branches    10818    10751      -67     
==========================================
- Hits        95801    95166     -635     
+ Misses      24291    24057     -234     
+ Partials     3133     3102      -31     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	72.71% <74.94%> (+<0.01%)	⬆️
OS-ubuntu-latest	74.58% <74.94%> (+0.02%)	⬆️
Py-3.10	74.58% <74.94%> (+0.02%)	⬆️
Py-3.11	74.58% <74.94%> (+0.02%)	⬆️
Py-3.12	74.58% <74.94%> (+0.02%)	⬆️
Py-3.13	74.58% <74.94%> (+0.01%)	⬆️
Py-3.14	74.59% <74.94%> (+0.03%)	⬆️
Py-3.14t	74.58% <74.94%> (+0.01%)	⬆️
SelfHosted-Large	30.02% <30.51%> (+0.01%)	⬆️
SelfHosted-Linux	35.21% <30.80%> (-0.05%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/cli/cameracalibrate/cameracalibrate.py	78.16% <ø> (ø)
dimos/cli/commands/cameracalibrate.py	23.52% <ø> (ø)
dimos/cli/spy/core.py	98.18% <ø> (ø)
dimos/constants.py	71.42% <ø> (-4.58%)	⬇️
dimos/control/hardware_interface.py	71.59% <100.00%> (-2.10%)	⬇️
dimos/control/test_port_coordinator.py	100.00% <100.00%> (ø)
dimos/control/test_tick_readiness.py	100.00% <100.00%> (ø)
dimos/core/coordination/module_coordinator.py	86.56% <ø> (ø)
dimos/core/stream.py	82.95% <ø> (ø)
dimos/core/transport.py	72.96% <100.00%> (+3.98%)	⬆️
... and 31 more

... and 13 files with indirect coverage changes

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