Control Coordinator Refactor

[TomCC7]

General Direction

Instead of owning the hardware connection through adapter, align with the connection module design, which provides a single connection for a dedicated hardware, and control coordinator uses a unified high-performance transport to send high-frequency control command (like shm).

Pain Point/Wishlist

1. hide robot_id concept from higher level (manipulation module)
   this makes manipulation module semantic much cleaner.
2. rephrase joint semantic to more generic command_interface
   This is useful consider that you have a robot arm/simulation which only provides high-level interface for control (for example eef-pose). I think we already 'hacked' the interface for go2 control.
3. control coordinator related configs spam global_config. the current control coordinator owning hardware design is hacking the dimos core concept and makes config passing hard. Once the refactor is done we should be able to pass in hardware config through module cli args easily.

[TomCC7]

https://github.com/dimensionalOS/dimos/blob/1593c3c17af62ae91daf8bab71dce2444ca5875c/openspec/changes/refactor-control-coordinator-connections/design.md

[TomCC7]

#3409