[TomCC7]

Generic MujocoSimModule camera/cloud/calibration/odom/IMU/TF ports now expose generated CDR values. Existing projection, Open3D voxel math and numerical controllers remain behind explicit wire adapters. Those shared adapters move from the Unitree folder to dimos/msgs/driver.py (one file moved, not another copy). G1 custom costmap/path/odom viewers accept the same canonical wire values.

Parent: #4713. Message encoding refactor.

Fresh physics odom/IMU share an exact integer-nanosecond stamp; camera streams keep the frame's simulator clock, with the existing before-first-frame wall fallback. Calibration RPCs return canonical values with independent matrices. The old numerical transform, camera and cloud APIs remain internal; this does not close Gate B legacy dependency retirement.

Category	Files	Added	Removed
Simulation/viewer boundaries and shared adapter move/imports	7	156	86
Retained regression assertions and actual CPU/CDR acceptance	4	245	16
Existing CI and copyable G1 manual walkthrough	2	27	1

Manual offline acceptance from the configured checkout:

DIMOS_TRANSPORT=lcm LCM_DEFAULT_URL=memq:// uv run pytest --noconftest --import-mode=importlib -o addopts='' -q \
  dimos/simulation/engines/test_cdr_streams.py \
  dimos/simulation/engines/test_mujoco_sim_module.py

47 source +47 isolated installed-wheel tests, strict typing7 production files, applicable hooks and wheel pass; Nix unavailable. Wheel SHA256 6c29ad7bbf18e60eaeb857c26ba25a89e8a660d72cf063771520bf8e766bc933.

Actual bounded headless CPU MuJoCo runs an inline tiny MJCF with real physics and task-owned SHM, publishes real CDR odom/IMU on memq and discovery-disabled loopback Zenoh, asserts epoch+1ns and that physics/publisher threads and SHM close. A deterministic render-frame boundary exercises the existing actual RGBD/Open3D projection and CDR RGB/depth/cloud/calibration, with exact pixels/points/colors/source stamp and RPC matrix ownership. Actual Rerun archetypes assert G1 mesh/path geometry and odometry placement. Existing simulation clock/TF/reset/respawn and G1/Go2 fidelity regressions remain.

No robot, external model/scene asset, policy weights/inference, GPU rendering, display, performance experiment or human visual acceptance. QP-solver-absent warning is retained; no IK solve claimed. Remaining R1 sensor/LIO, collection/native-worker/DimSim/Habitat/other promised graphs, canonical fixtures, default/compatibility audit, Gate B retirement and final ancestry/PR-chain organization remain open. No CI polling.