fix(manip): tests

[ruthwikdasyam]

Problem

The xarm7(), xarm6(), and piper() catalog functions check if adapter_type="mock".
and if global_config.simulation was true, to set adapter_type to sim on the 2nd check. so, test fails when adaper_type is set to mock and result wil be sim, as env_variable sim is true.

Solution

Removed the global_config.simulation swap from all three catalog functions and dropped the global_config import.
we dont set adapter, based on global_config.simulation for now

Breaking Changes

None

How to Test

Tests pass
SIMULATION=true pytest dimos/robot/test_robot_config.py
SIMULATION=true pytest dimos/e2e_tests/test_control_coordinator.py

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