[TomCC7]

Safe-goal searches, path lookahead/distance and obstacle-ahead checks accept generated occupancy/path values. Generated safe goals are the canonical geometry_msgs Point; legacy grid callers retain Vector3 output. Existing BFS/contiguous traversal, clearance thresholds, cached path mask behavior and distance math remain shared.

Parent: #4676. Project: https://linear.app/dimensional/project/message-encoding-refactor-05a3ddb4af3e/overview

Category	Files	Change
Navigation helpers	3	Generated points/nested paths and array access
Mask typing	1	Accept both grid identities for a numeric mask result
Tests	1	Both searches, rotated coordinates, unknown/blocked maps, lookahead and obstacle updates
CI	1	Installed-wheel provenance and focused checks

After installing this commit, run this offline example:

import numpy as np
from dimos.messages.geometry_msgs.msg import Point
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.goal_validator import find_safe_goal

costmap = occupancy_from_array(
    np.zeros((7, 7), dtype=np.int8), resolution=1.0,
    header=Header(frame_id="map", stamp=time_from_nanoseconds(0)),
)
safe = find_safe_goal(costmap, Point(x=3, y=3, z=0))
assert safe == Point(x=3, y=3, z=0)

Validation: 51 source and 51 installed-wheel checks (17 safety/distance and 34 rendering/mask), three unchanged project-fixture safe-goal regressions, strict typing of four production files, applicable hooks, normal main wheel build, full runtime pip check (198 packages). Existing project LFS fixture was SHA256/size verified and safely extracted from cache. The exact snippet above passes against the installed main wheel. No hardware, performance or GitHub CI result is claimed. Global/local planner and controller message ports remain the next consumer layer.