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Hosted arm commands now use the existing relay data-frame envelope with generated CDR PoseStamped/Joy/TwistStamped payloads. Canonical pose, twist and gripper outputs match the migrated coordinator inputs. Legacy fingerprints are not a fallback. Existing stale/future/out-of-order filtering, per-hand routing, UI scale, E-STOP, gripper normalization and operator-loss behavior remain.
Parent: #4705. Message Encoding Refactor
The exact source header is retained across internal controller math; integer timestamp watermarks distinguish commands a nanosecond apart even when their floating-second representations coincide. Test fixtures now construct the real module and mock only publications/external coordinator RPC, instead of skipping Module initialization.
Manual offline acceptance (no broker, robot or XR server):
DIMOS_TRANSPORT=lcm LCM_DEFAULT_URL=memq:// uv run pytest --noconftest --import-mode=importlib -o addopts='' -q dimos/teleop/hosted/test_arm_command.pyThe hosted guide includes a copyable schema export using the installed registry. No duplicate standard definitions or new runtime generator is introduced.
Validation: 102 source +102 isolated installed-wheel checks (31 hosted-arm +71 WebXR/body/browser cases); strict typing across 2 production files; configured scoped hooks pass except unavailable Nix. Separate actual installed browser acceptance runs the shipped CommandEncoder with exact local Foxglove rosmsg5.0.5/rosmsg2-serialization3.1.2, delivers all three input kinds to the real hosted arm handlers, and receives canonical TwistStamped through real LCM memq with17s+1ns and expected velocity. This is offline interoperability, not online hosted acceptance. Wheel SHA256
b1393714afcda4d366e77302d5f616abf912239bcef1d47db198f51a655fee2d.The external hosted operator application must adopt this encoding before deployment; that client and broker credentials are outside this checkout. The arm module still starts no embedded HTTP server, so no hosted schema endpoint is implied. Go2 hosted typed/media/map/stats paths remain the next boundary. Internal numerical helpers remain, legacy dependency retirement and full graph cutover remain open. No CI polling, broker connection, hardware, merge, force push or release.