[TomCC7]

LeRobot's host contract and isolated worker now agree with generated CDR Image, JointState and UInt32 input ports. The worker reads rgb8 rows through the existing stride-aware view, caches owned image/state values and extracts source timestamps from Header. Packed button masks retain the existing grip interruption and rollout toggle behavior. The start-mismatch retry also reads canonical state time; otherwise it waited on an obsolete .ts field.

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

Parent: #4717 (30f86fa79c68b1d97748b108adb1e6badd64c4d5). This remains one layer in the incomplete proposal; no final graph/dependency/stack completion claim.

File change summary

Category	Files	Added	Deleted	Review focus
Host/worker adapters	2	39	22	Canonical matching ports; padded RGB; owned caches; source clock in staleness/retry; same trajectory RPC
Runtime behavior tests	1	121	24	Existing 31 lifecycle/safety assertions retained; real Module initialization; 3 new CDR/ownership/malformed cases
CI/docs	2	32	2	Declared isolated project commands; short type contract; honest shared-checkout packaging limits

Verification

• 34 final-source runtime tests and the same 34 against both main and runtime wheels installed in a separate task venv, with isolated Python and site-packages assertions for both production modules.
• 19 source host/bootstrap tests. Strict typing passes for both production files using the native project's existing mypy configuration for upstream LeRobot types.
• Configured scoped hooks pass except unavailable Nix lint.
• Actual memq and discovery-disabled loopback Zenoh CDR Image/JointState/UInt32 ports, padded RGB pixels, Header nanoseconds, caller-buffer ownership, grip interruption and malformed frame rejection. Existing preflight, clipping, chunk, cancellation, mismatch-retry, timeout and restart assertions remain.
• Test dependencies use actual LeRobot 0.6.0 and Transformers 5.5.4; the task-only venv reuses existing CPU Torch 2.7.1, within LeRobot's declared range. No CUDA, models, checkpoint, inference or training run was downloaded/executed. This local result is not a Torch 2.11 matrix claim.
• Main wheel SHA-256: def90aeb6848fcd0d0b7273a0e3f15f77c6e37c67a0b628c13efffc6972ff62b.
• Runtime wheel SHA-256: 342ff5b3563bb5003b2de3c3184cd0db696ce98322588667d81a0afa7201d63f.

Manual offline test

Using the existing isolated project workflow from this checkout:

cd native/python/lerobot
DIMOS_TRANSPORT=lcm LCM_DEFAULT_URL=memq:// HF_HUB_OFFLINE=1 TRANSFORMERS_OFFLINE=1 \
  uv run --isolated --locked --group tests --with-editable ../../.. \
  python -m pytest --confcutdir=. -o addopts='' -q dimos_lerobot/runtime_tests.py

The first environment preparation installs declared dependencies; test policy/coordinator boundaries are fake, with no checkpoint or hardware. The project lock's Torch choice differs from the bounded local CPU environment noted above. CI contains this declared-project check; no CI conclusion is claimed or polled.

Remaining package boundary

The existing optional runtime launcher uses a shared checkout, which can differ from an installed host's revision, and runtime projects are not bundled in the main wheel. Use matching host/checkout revisions. This PR verifies installed worker/main value interoperability, not automatic isolated-launcher revision alignment; that remains an internal final packaging/compatibility gate. Trajectory RPCs and host installation APIs are unchanged.