fix(dimsim): bridge simulator sensors and commands to Zenoh

[ruthwikdasyam]

Contribution path

Fixes #4124.

Problem

DimSim speaks LCM, so Zenoh runs miss sensors and movement commands.

Solution

Relay simulator topics to Zenoh and commands back to LCM; preserve direct LCM behavior and fix log-pipe shutdown ordering.

How to Test

dimos --transport zenoh --simulation dimsim --dimsim-scene=empty --no-dimsim-headless run unitree-go2 keyboard-teleop

Open http://localhost:8090/, drive from the Keyboard Teleop window, and check camera/LiDAR in Rerun (enable world/lidar).

Pre-commit, 5 focused tests, and mypy passed. A real headless smoke test verified changing sensors and simulated movement over Zenoh.

AI assistance

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 96.24413% with 8 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/simulation/dimsim/test_dimsim_process.py	85.18%	2 Missing and 2 partials ⚠️
dimos/robot/unitree/dimsim_connection.py	96.36%	1 Missing and 1 partial ⚠️
dimos/simulation/dimsim/dimsim_process.py	50.00%	0 Missing and 2 partials ⚠️

@@            Coverage Diff             @@
##             main    #4127      +/-   ##
==========================================
+ Coverage   78.63%   78.90%   +0.26%     
==========================================
  Files        1467     1473       +6     
  Lines      138746   139143     +397     
  Branches    11931    12040     +109     
==========================================
+ Hits       109108   109790     +682     
+ Misses      26278    25948     -330     
- Partials     3360     3405      +45     

Components	Coverage Δ
Tests	94.82% <97.40%> (+0.20%)	⬆️

Flag	Coverage Δ
OS-ubuntu-24.04-arm	74.86% <96.24%> (+0.03%)	⬆️
OS-ubuntu-latest	75.56% <96.24%> (+0.03%)	⬆️
Py-3.10	75.33% <96.24%> (+0.03%)	⬆️
Py-3.11	75.54% <96.24%> (+0.03%)	⬆️
Py-3.12	75.55% <96.24%> (+0.03%)	⬆️
SelfHosted-Large	30.74% <15.96%> (-0.02%)	⬇️
SelfHosted-Linux	36.28% <15.96%> (+0.59%)	⬆️
SelfHosted-macOS	35.61% <15.96%> (+0.62%)	⬆️

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

Files with missing lines	Coverage Δ
dimos/robot/unitree/test_dimsim_connection.py	100.00% <100.00%> (ø)
dimos/robot/unitree/dimsim_connection.py	87.60% <96.36%> (ø)
dimos/simulation/dimsim/dimsim_process.py	49.36% <50.00%> (ø)
dimos/simulation/dimsim/test_dimsim_process.py	85.18% <85.18%> (ø)

... and 30 files with indirect coverage changes

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