[Tarzelf]

Adds a common local dvidia-arm entry point for explicit PiPER, SO-101 and UR5e/Robotiq simulation interfaces. Policy installation now checks exact embodiment, data, asset and runtime bindings before dispatching the existing PiPER block runner. Wrong-arm/hardware requests fail closed. A separate data-only task gate assesses declared reach, fit, load/friction uncertainty, freshness and test-lift conditions.

This targets the current preview branch so the diff contains this milestone only; it does not replace stable main or claim cross-arm learned transfer.

Validation:

• 15 adapter tests including three native model builds; 34 installer/task/benchmark/runner tests; 5 guarded publication tests.
• Frozen 54-attempt mechanics roster: 54 numerically valid, 21,654 states, 1,260 commands; independent audit reconstructed 648 RMS/max values with zero mismatch. All 21 offline compute-budget exceedances retained.
• Fresh dev3 wheel installed outside checkout; one preselected PiPER simulation example independently passed. Its full-step p95 was 34.924 ms, with 179/1,000 nominal 20 ms budgets exceeded on a shared host. No real-time claim and no change to the frozen 5/12 task score.

Preview wheel and evidence · Hugging Face dataset

Physical transport, automatic retargeting and live probe/test-lift integration remain unimplemented. Runtime validation assumes caller-owned native model geometry is not mutated, as documented; control mechanics are checked per command.