[TomCC7]

The existing simple/smooth path resamplers now accept generated Path and nested PoseStamped values while retaining the input value type. New generated poses carry the path Header; simple resampling retains source endpoint Headers. Resampled paths own their pose/Header values. The existing spacing, duplicate handling, smoothing and goal-orientation calculations remain shared with legacy callers.

Parent: #4674. Project: https://linear.app/dimensional/project/message-encoding-refactor-05a3ddb4af3e/overview

Category	Files	Change
Path resampling	1	Generated nested fields, value construction and metadata ownership
Tests	1	Existing numeric equivalence, edge cases, exact timestamps and codec round trips
CI	1	Installed-wheel provenance and scoped checks

After installing this commit, run this offline example:

import numpy as np
from dimos.mapping.occupancy.path_resampling import simple_resample_path
from dimos.messages.std_msgs.msg import Header
from dimos.msgs.occupancy import occupancy_from_array
from dimos.msgs.time import time_from_nanoseconds
from dimos.navigation.go2.replanning_a_star.min_cost_astar import min_cost_astar

costmap = occupancy_from_array(
    np.zeros((5, 5), dtype=np.int8), resolution=1.0,
    header=Header(frame_id="map", stamp=time_from_nanoseconds(1700000000123456789)),
)
path = min_cost_astar(costmap, goal=(4, 4), start=(0, 0))
assert path is not None
resampled = simple_resample_path(path, path.poses[-1].pose, spacing=0.25)
assert len(resampled.poses) > len(path.poses)
assert resampled.header == costmap.header

Validation: 24 source and 24 installed-wheel behavior checks; both unchanged image golden regressions; strict typing of the production file; applicable hooks; normal main wheel build; full runtime pip check (198 packages). The exact block above runs against the installed main wheel. Three project fixture archives were hash/size verified before safe extraction. No hardware, performance or GitHub CI result is claimed. Navigation/controller ports and the eventual legacy-type retirement remain subsequent work.