[TomCC7]

The native MLS planner now consumes the generated CDR map/region streams from #4688 and publishes canonical Path, surface regions and weighted edge regions. Seed pairing retains explicit region IDs; cylinder dimensions are read from named fields. Edge payloads are real LineSegment3D values with a weight, replacing the legacy Path-shaped encoding.

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

Parent: #4688. Remaining SLAM/relocalization/robot/control/default/cleanup work is not included or claimed complete.

Files	Count	Change
Python boundaries/spec/rendering	4	Generated types, exact source Header copies, native TF port contract, weighted-edge/surface rendering
Rust boundary	3	CDR codecs, generated messages, explicit region pairing and actual weighted segments; numeric MLS kernel unchanged
Build/dependencies	3	Locked SDK/generated-crate closure, standalone fixed-hash source assembly
Tests/CI	4	Original pairing/expiry/math/rendering tests retained; actual two-native-process CDR chain and timestamp/immutability regressions

Manual synthetic mapper → MLS acceptance from this checkout with development Python dependencies and Rust installed:

python -m pip install -e .
cargo build --locked --manifest-path dimos/mapping/ray_tracing/rust/Cargo.toml --bin voxel_ray_tracing --jobs 2
cargo build --locked --manifest-path dimos/navigation/global_planner/mls_planner/rust/Cargo.toml --bin mls_planner --jobs 2
DIMOS_NATIVE_RAY_TRACING_BINARY="$PWD/dimos/mapping/ray_tracing/rust/target/debug/voxel_ray_tracing" DIMOS_NATIVE_MLS_BINARY="$PWD/dimos/navigation/global_planner/mls_planner/rust/target/debug/mls_planner" python -m pytest --noconftest --import-mode=importlib -o addopts='' -q dimos/navigation/global_planner/mls_planner/test_generated_native.py

This starts two actual native processes and a discovery-disabled localhost Zenoh router. Python supplies a synthetic floor cloud, TF and goal. Ray-tracing outputs feed MLS directly; the test requires a nonempty canonical route plus surface and weighted-edge regions, checks matching nested Headers and waypoint/weight values, and owns cleanup. Both binary variables are required; omitting them skips the native chain. No robot is operated.

Local evidence: 133 Rust unit tests (131 retained plus CDR edge/layout cases), the same 133 from a standalone artifact-only Cargo layout, all-target Clippy with warnings denied, native binary build and a real local PyO3 math wheel pass. All 15 focused Python tests pass from source and with production wrapper/transformer/rendering modules and the extension loaded from site-packages. Strict typing for 4 production files, applicable hooks, main-wheel build and dependency check on the existing default environment plus mapper/MLS extensions pass. The existing goal/latch/search/replan/seed-priority rules remain unchanged. Python TF annotations/protocol now agree with the SDK's existing bidirectional #[tf] service.

Main-wheel SHA256: c0ea256a163e38cb1dcab5dac04f36d1802dd25df0639a1d69a0c162d3c2cf92. Optional MLS dev-profile wheel SHA256: 897f7f3cd5423d69d0236cf1ebcb242de3e8ca3d0f190e6273257659d78179bb.

Nix remains unverified because its executable is absent locally; standalone Cargo proves the source/dependency layout, not the Nix gate. TF query windows keep the existing floating-point API. Main wheel contains Python wrappers/SDK; installed native modules use explicitly supplied executables, while default Nix source builds remain checkout workflows. No CI polling/all-green, performance, hardware, screenshot or human acceptance claim.