fix(zenoh): route local sessions through the coordinator router

[Nabla7]

What changed

• Start one local Zenoh router with the ModuleCoordinator.
• Connect Python worker, coordinator RPC, and native-module sessions to that router.
• Preserve explicit robot endpoints on the router and restore the prior environment on shutdown.
• Treat an already-running local router as reusable.

Root cause

Independent peer sessions relied on multicast discovery. On macOS and restricted networks, sibling processes could fail to discover each other or lose reachability even though they belonged to one DimOS run.

The coordinator now owns the local routing topology while typed streams and RPC continue using the normal Zenoh implementations.

Validation

• Zenoh service, default-connect, and coordinator RPC tests
• 15 tests passed
• Rust cargo fmt and cargo clippy passed
• Repository pre-commit hooks passed

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Project	Status	Preview	Updated (UTC)
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[codecov]

Codecov Report

❌ Patch coverage is 44.89796% with 54 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/protocol/service/zenohservice.py	38.33%	35 Missing and 2 partials ⚠️
dimos/core/coordination/module_coordinator.py	40.00%	12 Missing and 3 partials ⚠️
dimos/core/native_module.py	33.33%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3374      +/-   ##
==========================================
+ Coverage   75.80%   75.83%   +0.02%     
==========================================
  Files        1172     1172              
  Lines      113568   113644      +76     
  Branches    10258    10269      +11     
==========================================
+ Hits        86090    86180      +90     
- Misses      24492    24521      +29     
+ Partials     2986     2943      -43     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	69.91% <44.89%> (-0.03%)	⬇️
OS-ubuntu-latest	71.91% <44.89%> (-0.03%)	⬇️
Py-3.10	71.90% <44.89%> (-0.03%)	⬇️
Py-3.11	71.90% <44.89%> (-0.03%)	⬇️
Py-3.12	71.90% <44.89%> (-0.03%)	⬇️
Py-3.13	71.91% <44.89%> (-0.02%)	⬇️
Py-3.14	71.91% <44.89%> (-0.03%)	⬇️
Py-3.14t	71.90% <44.89%> (-0.03%)	⬇️
SelfHosted-Linux	35.74% <36.73%> (-0.01%)	⬇️

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Files with missing lines	Coverage Δ
dimos/core/coordination/coordinator_rpc.py	95.38% <100.00%> (+0.22%)	⬆️
dimos/protocol/service/test_zenohservice.py	100.00% <100.00%> (ø)
dimos/core/native_module.py	84.64% <33.33%> (+8.55%)	⬆️
dimos/core/coordination/module_coordinator.py	89.25% <40.00%> (+3.19%)	⬆️
dimos/protocol/service/zenohservice.py	69.03% <38.33%> (-5.31%)	⬇️

... and 3 files with indirect coverage changes

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