Feat/guardrail dict api#2
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Redesign the no-hardware filter API around a single keyed dict aligned with the runtime's step(): the reserved `action` key is the command to validate, every other key is an observation group injected into callbacks by name. This removes the old `guard(action, obs)` two-flat-vector shape that forced different-space embodiments (a mobile base observing [x,y,yaw] but commanding [v,omega]) to pack everything into one vector and slice it positionally. API (no compat shim): - SafetyGuard -> Guardrail, safe() -> guardrail(), SafetyProcessorStep -> GuardrailProcessorStep - Guardrail prints its obs/action contract on construction and fails fast when an input dict omits a required obs group or shadows a reserved runtime key - safe_action on reject: explicit vector / "hold" (arm default) / "zero" Mechanics: - Observation.channels + images are flattened into the runtime pool so a callback can declare `base_pose`/`current` and receive it directly - Observation.joint_positions defaults to an empty array (a mobile base has none) - ActionProposal duck-types as its command vector (__array__/__iter__/...) so callbacks can write `v, omega = action` while builtins keep .target_joint_positions - @dam.callback gains `layer=`, setting _cb_layer so custom filter callbacks are dispatched by the matching L-guard Also folds in the 0.7.0 semantics cleanup: remove JointLayout/chains (action_layout is the single named-segment contract), drop the fallback `type` field, replace register_solver_factory with the @dam.solver_factory decorator + keyword injection, and bump to 0.7.0. New example mobile_base_guardrail.py (~55 lines) replaces a 180-line wrapper. Docs + release notes updated; 721 unit tests pass, mypy + docs-check clean. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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