The answer seems to be: you can't.
First, see this question, which quotes a comment in the kernel:
- TODO:
(2) Need to export data to a userland tool via a sysctl. Should ipcs(1) and ipcrm(1) be expanded or should new tools to manage both POSIX kernel semaphores and POSIX shared memory be written?
Also see this post on the Apple mailing list unix-porting:
There is no "picps"/"picprm" utility, you are expected to remember what
you create and clean up afterward, or clean up first thing on
restart if you crash a lot, there is nothing exposed directly
in the filesystem namespace, and you are expected to do
the shm_unlink because it is a rendezvous for potentially a
lot of unrelated programs.