diff --git a/.github/workflows/message-codegen.yml b/.github/workflows/message-codegen.yml
new file mode 100644
index 00000000000..c86d4ea9ce1
--- /dev/null
+++ b/.github/workflows/message-codegen.yml
@@ -0,0 +1,41 @@
+name: message-codegen
+# CI integration check for the CDR message codegen layer. It runs the one test
+# file under dimos/message_codegen/ against the published dimos-cdrgen library,
+# on Linux and macOS, in a clean virtualenv without the dimOS dev environment.
+
+on:
+  pull_request:
+    paths:
+      - dimos/message_codegen/**
+      - native/cpp/include/dimos/native/cdr_codec.hpp
+      - docs/development/message-source-packages.md
+      - pyproject.toml
+      - uv.lock
+      - .github/workflows/message-codegen.yml
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  integration:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-14]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v7
+      - uses: astral-sh/setup-uv@v10.0.1
+      - name: Install published generator and consumer test tools
+        run: |
+          uv venv .venv --python 3.12
+          uv pip install --python .venv/bin/python 'dimos-cdrgen==0.1.0' numpy build pytest pytest-asyncio pytest-env
+      - name: Verify SDK discovery and installed Python consumer without pip
+        run: |
+          .venv/bin/python -c 'import importlib.util; assert importlib.util.find_spec("pip") is None'
+          .venv/bin/python -m pytest --noconftest -o addopts='' -o 'markers=native_e2e: compiled native consumer acceptance' --strict-markers -m 'not native_e2e' -q dimos/message_codegen/test_integration.py
+      - name: Verify compiled C++ consumer
+        run: |
+          .venv/bin/python -m pytest --noconftest -o addopts='' -o 'markers=native_e2e: compiled native consumer acceptance' --strict-markers -m native_e2e -q dimos/message_codegen/test_integration.py
+          .venv/bin/python -c 'import importlib.util; assert importlib.util.find_spec("pip") is None; assert importlib.util.find_spec("catkin_pkg") is None'
diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock
index c22b1b2c472..2040cc8f566 100644
--- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock
+++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock
@@ -28,11 +28,11 @@
       },
       "locked": {
         "dir": "native/cpp",
-        "lastModified": 1791386052,
-        "narHash": "sha256-MeVxI5e13wh7jQ0g2tnaLpiyDaQQMfqEAC7qrXopHY4=",
+        "lastModified": 1792452883,
+        "narHash": "sha256-7HWaDC9KHTTpMr3bQTqAc6B7RuVq+dSrT58XWKM7hBc=",
         "owner": "dimensionalOS",
         "repo": "dimos",
-        "rev": "87c0c26b40e8a5aeb9d9d346104b49d5fb02696a",
+        "rev": "502b697763f8aef12f073900a948e66eeb4b8b1e",
         "type": "github"
       },
       "original": {
diff --git a/dimos/message_codegen/native_build.py b/dimos/message_codegen/native_build.py
new file mode 100644
index 00000000000..71044c0636e
--- /dev/null
+++ b/dimos/message_codegen/native_build.py
@@ -0,0 +1,35 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Add DimOS SDK discovery to the published CDR generator toolchain."""
+
+from importlib.util import find_spec
+import json
+from pathlib import Path
+
+from dimos_cdrgen.native_build import write_cmake_toolchain as library_toolchain
+
+
+def write_cmake_toolchain(prefix: Path, destination: Path) -> Path:
+    """Export the library toolchain and retain optional DimOS SDK discovery."""
+    result = library_toolchain(prefix, destination)
+    spec = find_spec("dimos")
+    if spec is not None and spec.submodule_search_locations:
+        package = Path(next(iter(spec.submodule_search_locations)))
+        for sdk in [package / "_native/cpp", package.parent / "native/cpp"]:
+            if (sdk / "dimos_nativeConfig.cmake").is_file():
+                with result.open("a") as output:
+                    output.write("list(APPEND CMAKE_PREFIX_PATH " + json.dumps(str(sdk)) + ")\n")
+                break
+    return result
diff --git a/dimos/message_codegen/test_integration.py b/dimos/message_codegen/test_integration.py
new file mode 100644
index 00000000000..cbef553c448
--- /dev/null
+++ b/dimos/message_codegen/test_integration.py
@@ -0,0 +1,194 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Verify the DimOS adapter and one installed consumer of published cdrgen."""
+
+import json
+import os
+from pathlib import Path
+import subprocess
+import sys
+from types import SimpleNamespace
+
+from dimos_cdrgen.generate import generate
+import pytest
+
+from dimos.message_codegen import native_build
+
+
+def run(*command: str, cwd: Path) -> None:
+    subprocess.run(command, cwd=cwd, check=True, capture_output=True, text=True)
+
+
+@pytest.mark.parametrize("layout", ["installed", "checkout", "absent"])
+def test_sdk_discovery(tmp_path: Path, monkeypatch: pytest.MonkeyPatch, layout: str) -> None:
+    prefix = tmp_path / "prefix"
+    prefix.mkdir()
+    (prefix / "native-prefixes.json").write_text(json.dumps([str(prefix)]))
+    (prefix / "native-target.json").write_text('{"values": {}, "toolchain_sha256": null}')
+    package = tmp_path / "dimos"
+    sdk = package / "_native/cpp" if layout == "installed" else tmp_path / "native/cpp"
+    if layout != "absent":
+        sdk.mkdir(parents=True)
+        (sdk / "dimos_nativeConfig.cmake").write_text("")
+    monkeypatch.setattr(
+        native_build,
+        "find_spec",
+        lambda _: SimpleNamespace(submodule_search_locations=[str(package)]),
+    )
+    toolchain = native_build.write_cmake_toolchain(prefix, tmp_path / "toolchain.cmake")
+    text = toolchain.read_text()
+    assert str(prefix) in text
+    sdk_lines = [
+        line for line in text.splitlines() if line.startswith("list(APPEND CMAKE_PREFIX_PATH")
+    ]
+    assert sdk_lines == ([] if layout == "absent" else [f'list(APPEND CMAKE_PREFIX_PATH "{sdk}")'])
+
+
+def test_installed_message_consumer(tmp_path: Path) -> None:
+    project = tmp_path / "consumer"
+    source = project / "interfaces/consumer_msgs/msg/Tick.msg"
+    source.parent.mkdir(parents=True)
+    source.write_text("int32 value\n")
+    (project / "pyproject.toml").write_text("""[build-system]
+requires = ["setuptools>=77", "wheel", "dimos-cdrgen==0.1.0"]
+build-backend = "setuptools.build_meta"
+[project]
+name = "dimos-cdr-consumer"
+version = "0.1.0"
+dependencies = ["dimos-cdrgen==0.1.0"]
+[tool.dimos.messages]
+source = "interfaces"
+""")
+    (project / "setup.py").write_text(
+        "from pathlib import Path\nfrom setuptools import setup\n"
+        "from dimos_cdrgen.source_package import setup_arguments\n"
+        "setup(**setup_arguments(Path(__file__).resolve().parent))\n"
+    )
+    run(sys.executable, "-m", "build", "--no-isolation", cwd=project)
+    wheel = next((project / "dist").glob("*.whl"))
+    installed = tmp_path / "installed"
+    run(
+        "uv",
+        "pip",
+        "install",
+        "--python",
+        sys.executable,
+        "--no-deps",
+        "--target",
+        str(installed),
+        str(wheel),
+        cwd=tmp_path,
+    )
+    run(
+        sys.executable,
+        "-I",
+        "-c",
+        f"""import sys
+sys.path.insert(0, {str(installed)!r})
+import pickle
+from dimos_cdr_consumer.consumer_msgs.msg import Tick
+from dimos_cdrgen.registry import decode, encode
+value = Tick(value=17)
+assert encode(value) == bytes.fromhex("0001000011000000")
+assert type(decode(encode(value), Tick)) is Tick
+assert type(pickle.loads(pickle.dumps(value))) is Tick
+assert decode(encode(value), Tick).value == 17
+""",
+        cwd=tmp_path,
+    )
+
+
+@pytest.fixture(scope="session")
+def native_build_python(tmp_path_factory: pytest.TempPathFactory) -> Path:
+    # Native generator prerequisites are build tools, isolated from DimOS runtime deps.
+    # In particular, cdrgen0.1.0's PyYAML pin must not downgrade the runtime lock.
+    environment = tmp_path_factory.mktemp("cdr-native-toolchain") / "venv"
+    run("uv", "venv", "--python", sys.executable, str(environment), cwd=environment.parent)
+    python = environment / ("Scripts/python.exe" if os.name == "nt" else "bin/python")
+    offline_args = ("--offline",) if os.environ.get("DIMOS_OFFLINE") == "1" else ()
+    run(
+        "uv",
+        "pip",
+        "install",
+        *offline_args,
+        "--python",
+        str(python),
+        "dimos-cdrgen[native]==0.1.0",
+        cwd=environment.parent,
+    )
+    return python
+
+
+@pytest.mark.native_e2e
+def test_cpp_consumer_uses_dimos_header(tmp_path: Path, native_build_python: Path) -> None:
+    source = tmp_path / "interfaces/consumer_msgs/msg/Tick.msg"
+    source.parent.mkdir(parents=True)
+    source.write_text("int32 value\n")
+    generated = tmp_path / "generated"
+    generate(
+        [source.parents[2]], generated, ["consumer_msgs/msg/Tick"], "dimos_consumer", shared=True
+    )
+    prefix_file = tmp_path / "native-prefix.txt"
+    run(
+        str(native_build_python),
+        "-c",
+        """import json
+import os
+from pathlib import Path
+import sys
+from dimos_cdrgen.native_build import prepare_cpp
+sources = {name: Path(path) for name, path in json.loads(os.environ.get("DIMOS_NATIVE_SOURCE_DIRS", "{}")).items()}
+prefix = prepare_cpp(
+    Path(sys.argv[1]), cache=Path(sys.argv[2]),
+    offline=os.environ.get("DIMOS_OFFLINE") == "1", source_dirs=sources or None,
+)
+Path(sys.argv[3]).write_text(str(prefix))
+""",
+        str(generated),
+        os.environ.get("DIMOS_NATIVE_TEST_CACHE", str(tmp_path / "native-cache")),
+        str(prefix_file),
+        cwd=tmp_path,
+    )
+    prefix = Path(prefix_file.read_text())
+    toolchain = native_build.write_cmake_toolchain(prefix, tmp_path / "toolchain.cmake")
+    include = Path(__file__).resolve().parents[2] / "native/cpp/include"
+    (tmp_path / "CMakeLists.txt").write_text(f'''cmake_minimum_required(VERSION 3.20)
+project(dimos_cdr_consumer LANGUAGES CXX)
+find_package(dimos_consumer CONFIG REQUIRED)
+add_executable(consumer main.cpp)
+target_compile_features(consumer PRIVATE cxx_std_17)
+target_include_directories(consumer PRIVATE "{include}")
+target_link_libraries(consumer PRIVATE dimos_consumer::messages)
+''')
+    (tmp_path / "main.cpp").write_text("""#include <consumer_msgs/msg/tick.hpp>
+#include <dimos/native/cdr_codec.hpp>
+#include <vector>
+int main() {
+    const std::vector<uint8_t> expected{0, 1, 0, 0, 17, 0, 0, 0};
+    auto value = dimos::native::cdr_decode<consumer_msgs::msg::Tick>(expected);
+    return value.value == 17 && dimos::native::cdr_encode(value) == expected ? 0 : 1;
+}
+""")
+    run(
+        "cmake",
+        "-S",
+        str(tmp_path),
+        "-B",
+        str(tmp_path / "build"),
+        f"-DCMAKE_TOOLCHAIN_FILE={toolchain}",
+        cwd=tmp_path,
+    )
+    run("cmake", "--build", str(tmp_path / "build"), "--parallel", "2", cwd=tmp_path)
+    run(str(tmp_path / "build/consumer"), cwd=tmp_path)
diff --git a/dimos/simulation/habitat/nix/flake.lock b/dimos/simulation/habitat/nix/flake.lock
index c13ac1a8111..eb23bbff5a6 100644
--- a/dimos/simulation/habitat/nix/flake.lock
+++ b/dimos/simulation/habitat/nix/flake.lock
@@ -11,11 +11,11 @@
       },
       "locked": {
         "dir": "native/cpp",
-        "lastModified": 1791386052,
-        "narHash": "sha256-MeVxI5e13wh7jQ0g2tnaLpiyDaQQMfqEAC7qrXopHY4=",
+        "lastModified": 1792452883,
+        "narHash": "sha256-7HWaDC9KHTTpMr3bQTqAc6B7RuVq+dSrT58XWKM7hBc=",
         "owner": "dimensionalOS",
         "repo": "dimos",
-        "rev": "87c0c26b40e8a5aeb9d9d346104b49d5fb02696a",
+        "rev": "502b697763f8aef12f073900a948e66eeb4b8b1e",
         "type": "github"
       },
       "original": {
diff --git a/docs/development/message-source-packages.md b/docs/development/message-source-packages.md
new file mode 100644
index 00000000000..6d20d3f04ae
--- /dev/null
+++ b/docs/development/message-source-packages.md
@@ -0,0 +1,58 @@
+# CDR generation in dimOS
+
+> **WIP: CDR migration.** This page documents the generator integration in
+> [the first stack layer (#4247)](https://github.com/dimensionalOS/dimos/pull/4247),
+> not a complete CDR message/runtime workflow on `main`. The generator dependency,
+> dimOS adapters and verification commands below are implemented in this layer.
+> Built-in message packaging depends on
+> [the second layer (#4366)](https://github.com/dimensionalOS/dimos/pull/4366);
+> the runtime encoding switch and CDR recording/viewer flows belong to later layers.
+> Installing this layer alone does not switch the existing dimOS runtime to CDR.
+
+dimOS uses the published `dimos-cdrgen==0.1.0` package directly. Its parser,
+generators, ownership checks, codecs and native build recipes live in the
+[independent library](https://github.com/TomCC7/dimos-cdrgen).
+See its [Python, C++ and Rust guides](https://tomcc7.github.io/dimos-cdrgen/)
+for message package configuration and supported schema features.
+
+Install `dimos-cdrgen==0.1.0` in both the build and runtime dependencies of
+message packages. Import its APIs directly:
+
+```python
+from dimos_cdrgen.registry import decode, encode
+from dimos_cdrgen.source_package import setup_arguments
+```
+
+There is no dimOS compatibility distribution. Existing consumers of
+`dimos_message_build` or generic `dimos.message_codegen` APIs must change their
+imports and dependency declarations to `dimos_cdrgen` and `dimos-cdrgen`.
+
+dimOS retains two adapters:
+
+- `dimos.message_codegen.native_build.write_cmake_toolchain` adds SDK discovery
+  for installed `dimos/_native/cpp` and source-checkout `native/cpp` layouts.
+  Import other build functions directly from `dimos_cdrgen.native_build`.
+- `dimos/native/cdr_codec.hpp` exposes the library codec under `dimos::native`
+  for dimOS C++ consumers.
+
+This first stack layer does not switch runtime transports or supply built-in
+message catalogs. Those remain separate PRs.
+
+## Verify the integration
+
+Use a Python environment with the published generator and test tools:
+
+```sh
+uv pip install 'dimos-cdrgen[native]==0.1.0' numpy build pytest pytest-asyncio pytest-env
+python -m pytest --noconftest -o addopts='' \
+  -o 'markers=native_e2e: compiled native consumer acceptance' \
+  -q dimos/message_codegen/test_integration.py
+```
+
+The tests check SDK discovery, an installed message wheel built from a source
+distribution, Python type identity and the dimOS C++ header against literal CDR
+bytes. Native verification needs CMake and a C++17 compiler. It prepares pinned
+native dependencies in a temporary cache; use `DIMOS_NATIVE_TEST_CACHE` to reuse
+a writable cache, or `DIMOS_NATIVE_SOURCE_DIRS` with `DIMOS_OFFLINE=1` for
+pre-fetched source directories. Generic generator regression tests stay in the
+library repository.
diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock
index 9a9ad728e16..dbb19175ad5 100644
--- a/examples/native-modules/cpp/flake.lock
+++ b/examples/native-modules/cpp/flake.lock
@@ -28,11 +28,11 @@
       },
       "locked": {
         "dir": "native/cpp",
-        "lastModified": 1791386052,
-        "narHash": "sha256-MeVxI5e13wh7jQ0g2tnaLpiyDaQQMfqEAC7qrXopHY4=",
+        "lastModified": 1792452883,
+        "narHash": "sha256-7HWaDC9KHTTpMr3bQTqAc6B7RuVq+dSrT58XWKM7hBc=",
         "owner": "dimensionalOS",
         "repo": "dimos",
-        "rev": "87c0c26b40e8a5aeb9d9d346104b49d5fb02696a",
+        "rev": "502b697763f8aef12f073900a948e66eeb4b8b1e",
         "type": "github"
       },
       "original": {
diff --git a/native/cpp/include/dimos/native/cdr_codec.hpp b/native/cpp/include/dimos/native/cdr_codec.hpp
new file mode 100644
index 00000000000..373034d9327
--- /dev/null
+++ b/native/cpp/include/dimos/native/cdr_codec.hpp
@@ -0,0 +1,11 @@
+// Copyright 2026 Dimensional Inc.
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <dimos_cdrgen/cdr.hpp>
+
+namespace dimos::native {
+using dimos::cdr::cdr_callbacks;
+using dimos::cdr::cdr_encode;
+using dimos::cdr::cdr_decode;
+} // namespace dimos::native
diff --git a/pyproject.toml b/pyproject.toml
index 05c7a8a2431..dd1fda7677f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -426,6 +426,8 @@ project-deps = [
 ]
 
 tests = [
+    "dimos-cdrgen==0.1.0",
+    "build>=1.2.2",
     # Test runner
     "pytest==8.3.5",
     "pytest-asyncio==1.4.0",
@@ -483,6 +485,7 @@ browser-tests = [
 
 # Lint / format / type-check tooling for the dedicated `lint` CI job.
 lint = [
+    "dimos-cdrgen==0.1.0",
     # Lint / format / type-check
     "ruff==0.14.3",
     "mypy==1.19.0",
@@ -537,7 +540,7 @@ dev = [
 required-version = ">=0.9.25"
 default-groups = ["tests"]
 exclude-newer = "7 days"
-exclude-newer-package = { dimos-viewer = false, dimos-lcm = false, lcm = false, roboplan = false, md-babel-py = false, can-motor-control = false, edgetam-dimos = false, dim-odom = false, eclipse-zenoh = false }
+exclude-newer-package = { dimos-cdrgen = false, dimos-viewer = false, dimos-lcm = false, lcm = false, roboplan = false, md-babel-py = false, can-motor-control = false, edgetam-dimos = false, dim-odom = false, eclipse-zenoh = false }
 constraint-dependencies = [
     # TODO(PY311): drop this fork. onnxruntime(-gpu) 1.24 dropped cp310
     # wheels, so 3.10 environments resolve 1.23.x (matching what a 3.10
diff --git a/uv.lock b/uv.lock
index 220d8482b56..199d9a88263 100644
--- a/uv.lock
+++ b/uv.lock
@@ -36,14 +36,15 @@ exclude-newer = "0001-01-01T00:00:00Z" # This has no effect and is included for
 exclude-newer-span = "P7D"
 
 [options.exclude-newer-package]
-dimos-viewer = false
+can-motor-control = false
+dim-odom = false
+dimos-cdrgen = false
 dimos-lcm = false
-lcm = false
-edgetam-dimos = false
+dimos-viewer = false
 eclipse-zenoh = false
-can-motor-control = false
+edgetam-dimos = false
+lcm = false
 md-babel-py = false
-dim-odom = false
 roboplan = false
 
 [manifest]
@@ -2326,6 +2327,7 @@ lint = [
     { name = "chromadb" },
     { name = "deptry" },
     { name = "dimos", extra = ["visualization", "web", "webrtc"] },
+    { name = "dimos-cdrgen" },
     { name = "einops" },
     { name = "gdown" },
     { name = "googlemaps" },
@@ -2394,12 +2396,14 @@ project-deps = [
     { name = "xacro" },
 ]
 tests = [
+    { name = "build" },
     { name = "can-motor-control" },
     { name = "chromadb" },
     { name = "click" },
     { name = "coacd" },
     { name = "coverage" },
     { name = "dimos", extra = ["apriltag", "cpu", "drone", "learning", "mapping", "visualization", "web", "webrtc"] },
+    { name = "dimos-cdrgen" },
     { name = "einops" },
     { name = "gdown" },
     { name = "googlemaps" },
@@ -2450,6 +2454,7 @@ tests = [
     { name = "xacro" },
 ]
 tests-self-hosted = [
+    { name = "build" },
     { name = "can-motor-control" },
     { name = "chromadb" },
     { name = "click" },
@@ -2457,6 +2462,7 @@ tests-self-hosted = [
     { name = "coverage" },
     { name = "dim-odom" },
     { name = "dimos", extra = ["apriltag", "cpu", "drone", "learning", "manipulation", "mapping", "misc", "unitree", "visualization", "web", "webrtc"] },
+    { name = "dimos-cdrgen" },
     { name = "einops" },
     { name = "gdown" },
     { name = "googlemaps" },
@@ -2681,6 +2687,7 @@ lint = [
     { name = "chromadb", specifier = ">=1.0.0" },
     { name = "deptry", specifier = "==0.25.1" },
     { name = "dimos", extras = ["web", "visualization", "webrtc"] },
+    { name = "dimos-cdrgen", specifier = "==0.1.0" },
     { name = "einops", specifier = ">=0.8.1" },
     { name = "gdown", specifier = "==6.0.0" },
     { name = "googlemaps", specifier = ">=4.10.0" },
@@ -2748,6 +2755,7 @@ project-deps = [
     { name = "xacro" },
 ]
 tests = [
+    { name = "build", specifier = ">=1.2.2" },
     { name = "can-motor-control", specifier = ">=0.0.8" },
     { name = "chromadb", specifier = ">=1.0.0" },
     { name = "click", specifier = ">=8.3" },
@@ -2755,6 +2763,7 @@ tests = [
     { name = "coverage", specifier = ">=7.0" },
     { name = "dimos", extras = ["apriltag", "mapping", "drone", "cpu", "learning"] },
     { name = "dimos", extras = ["web", "visualization", "webrtc"] },
+    { name = "dimos-cdrgen", specifier = "==0.1.0" },
     { name = "einops", specifier = ">=0.8.1" },
     { name = "gdown", specifier = "==6.0.0" },
     { name = "googlemaps", specifier = ">=4.10.0" },
@@ -2805,6 +2814,7 @@ tests = [
     { name = "xacro" },
 ]
 tests-self-hosted = [
+    { name = "build", specifier = ">=1.2.2" },
     { name = "can-motor-control", specifier = ">=0.0.8" },
     { name = "chromadb", specifier = ">=1.0.0" },
     { name = "click", specifier = ">=8.3" },
@@ -2814,6 +2824,7 @@ tests-self-hosted = [
     { name = "dimos", extras = ["apriltag", "mapping", "drone", "cpu", "learning"] },
     { name = "dimos", extras = ["manipulation", "misc", "unitree"] },
     { name = "dimos", extras = ["web", "visualization", "webrtc"] },
+    { name = "dimos-cdrgen", specifier = "==0.1.0" },
     { name = "einops", specifier = ">=0.8.1" },
     { name = "gdown", specifier = "==6.0.0" },
     { name = "googlemaps", specifier = ">=4.10.0" },
@@ -2866,6 +2877,23 @@ tests-self-hosted = [
     { name = "xacro" },
 ]
 
+[[package]]
+name = "dimos-cdrgen"
+version = "0.1.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "empy" },
+    { name = "lark" },
+    { name = "rosbags" },
+    { name = "setuptools" },
+    { name = "tomli", marker = "python_full_version < '3.11'" },
+    { name = "wheel" },
+]
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+]
+
 [[package]]
 name = "dimos-lcm"
 version = "0.1.6"
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+[[package]]
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+version = "4.2"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/c1/0a/c500fc4c8f48cac08b76b8987070b178f0549534584ac1f414066700a3f9/empy-4.2.tar.gz", hash = "sha256:86f15e1da9743e79a2e9b2cbacf1a13d0b7fb1835b6254eb253c978b72287f4f", size = 166069, upload-time = "2024-08-25T23:32:09.946Z" }
+
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 name = "etils"
 version = "1.13.0"
@@ -4961,6 +4995,15 @@ wheels = [
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+[[package]]
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+version = "1.2.2"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/af/60/bc7622aefb2aee1c0b4ba23c1446d3e30225c8770b38d7aedbfb65ca9d5a/lark-1.2.2.tar.gz", hash = "sha256:ca807d0162cd16cef15a8feecb862d7319e7a09bdb13aef927968e45040fed80", size = 252132, upload-time = "2024-08-13T19:49:00.652Z" }
+wheels = [
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+]
+
 [[package]]
 name = "lazy-loader"
 version = "0.5"
@@ -9303,6 +9346,23 @@ wheels = [
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 ]
 
+[[package]]
+name = "rosbags"
+version = "0.11.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "lz4" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
+    { name = "ruamel-yaml" },
+    { name = "typing-extensions" },
+    { name = "zstandard" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/f3/2f/b6d11cc9fac4003b284e2c152b5c34ca5b6d26caf5f6979118e2d588a0d7/rosbags-0.11.0.tar.gz", hash = "sha256:e73bbe79a15d7f539653375278ffca6c48e56b5c2ada4a4531de0b17737cbc46", size = 254438, upload-time = "2025-10-15T09:49:54.453Z" }
+wheels = [
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+]
+
 [[package]]
 name = "rpds-py"
 version = "0.30.0"
@@ -9383,6 +9443,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/3f/50/0a9e7e7afe7339bd5e36911f0ceb15fed51945836ed803ae5afd661057fd/rtree-1.4.1-py3-none-win_arm64.whl", hash = "sha256:3d46f55729b28138e897ffef32f7ce93ac335cb67f9120125ad3742a220800f0", size = 355253, upload-time = "2025-08-13T19:32:00.296Z" },
 ]
 
+[[package]]
+name = "ruamel-yaml"
+version = "0.19.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/c7/3b/ebda527b56beb90cb7652cb1c7e4f91f48649fbcd8d2eb2fb6e77cd3329b/ruamel_yaml-0.19.1.tar.gz", hash = "sha256:53eb66cd27849eff968ebf8f0bf61f46cdac2da1d1f3576dd4ccee9b25c31993", size = 142709, upload-time = "2026-01-02T16:50:31.84Z" }
+wheels = [
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+]
+
 [[package]]
 name = "ruff"
 version = "0.14.3"
@@ -11360,6 +11429,18 @@ wheels = [
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 ]
 
+[[package]]
+name = "wheel"
+version = "0.48.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "packaging" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/d0/20/50ed6bdf27dec98b568a8ae25dc599f35baa3d9709f9e83fd1edb56b9a90/wheel-0.48.0.tar.gz", hash = "sha256:94800765601e9171bf5d58d066e640662842bcedcbab982b2c90787a2c987322", size = 66471, upload-time = "2026-08-11T22:02:27.327Z" }
+wheels = [
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+
 [[package]]
 name = "winrt-runtime"
 version = "3.2.1"