diff --git a/examples/language-interop/README.md b/examples/language-interop/README.md
index 52ae561ddb..a099977a53 100644
--- a/examples/language-interop/README.md
+++ b/examples/language-interop/README.md
@@ -14,6 +14,7 @@ Demonstrates controlling a dimos robot from non-Python languages.
    - [TypeScript](ts/) - CLI and browser-based web UI
    - [C++](cpp/)
    - [Lua](lua/)
+   - [Rust](rust/)
 
 3. (Optional) Monitor traffic with `lcmspy`
 
diff --git a/examples/language-interop/rust/.gitignore b/examples/language-interop/rust/.gitignore
new file mode 100644
index 0000000000..b83d22266a
--- /dev/null
+++ b/examples/language-interop/rust/.gitignore
@@ -0,0 +1 @@
+/target/
diff --git a/examples/language-interop/rust/Cargo.lock b/examples/language-interop/rust/Cargo.lock
new file mode 100644
index 0000000000..6accfdb45b
--- /dev/null
+++ b/examples/language-interop/rust/Cargo.lock
@@ -0,0 +1,123 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 4
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "dimos-lcm"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=474b25d0f9f88b8430753df2453fd2c988a514d1#474b25d0f9f88b8430753df2453fd2c988a514d1"
+dependencies = [
+ "byteorder",
+ "socket2",
+]
+
+[[package]]
+name = "lcm-msgs"
+version = "0.1.0"
+source = "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=474b25d0f9f88b8430753df2453fd2c988a514d1#474b25d0f9f88b8430753df2453fd2c988a514d1"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
+name = "libc"
+version = "0.2.183"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d"
+
+[[package]]
+name = "robot-control"
+version = "0.1.0"
+dependencies = [
+ "dimos-lcm",
+ "lcm-msgs",
+]
+
+[[package]]
+name = "socket2"
+version = "0.5.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e22376abed350d73dd1cd119b57ffccad95b4e585a7cda43e286245ce23c0678"
+dependencies = [
+ "libc",
+ "windows-sys",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
+dependencies = [
+ "windows_aarch64_gnullvm",
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
+ "windows_i686_gnullvm",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_gnullvm",
+ "windows_x86_64_msvc",
+]
+
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
+
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
diff --git a/examples/language-interop/rust/Cargo.toml b/examples/language-interop/rust/Cargo.toml
new file mode 100644
index 0000000000..f07f98fb3e
--- /dev/null
+++ b/examples/language-interop/rust/Cargo.toml
@@ -0,0 +1,10 @@
+[package]
+name = "robot-control"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+# TODO: switch to version once dimos-lcm#20 merges
+dimos-lcm = { git = "https://github.com/dimensionalOS/dimos-lcm.git", rev = "474b25d0f9f88b8430753df2453fd2c988a514d1" }
+# TODO: switch to version once dimos-lcm#20 merges
+lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", rev = "474b25d0f9f88b8430753df2453fd2c988a514d1" }
diff --git a/examples/language-interop/rust/README.md b/examples/language-interop/rust/README.md
new file mode 100644
index 0000000000..63384f7f4f
--- /dev/null
+++ b/examples/language-interop/rust/README.md
@@ -0,0 +1,14 @@
+# Rust Robot Control Example
+
+Subscribes to `/odom` and publishes velocity commands to `/cmd_vel` via LCM UDP multicast.
+
+## Build & Run
+
+```bash
+cargo run
+```
+
+## Dependencies
+
+- [Rust toolchain](https://rustup.rs/)
+- Message types fetched automatically from [dimos-lcm](https://github.com/dimensionalOS/dimos-lcm) (`rust-codegen` branch)
diff --git a/examples/language-interop/rust/src/main.rs b/examples/language-interop/rust/src/main.rs
new file mode 100644
index 0000000000..97d00ce8cf
--- /dev/null
+++ b/examples/language-interop/rust/src/main.rs
@@ -0,0 +1,78 @@
+// Rust robot control example
+// Subscribes to robot pose and publishes twist commands via LCM
+
+use dimos_lcm::Lcm;
+use lcm_msgs::geometry_msgs::{PoseStamped, Twist, Vector3};
+use std::thread;
+use std::time::{Duration, Instant};
+
+const ODOM_CHANNEL: &str = "/odom#geometry_msgs.PoseStamped";
+const CMD_VEL_CHANNEL: &str = "/cmd_vel#geometry_msgs.Twist";
+const PUBLISH_INTERVAL: Duration = Duration::from_millis(100); // 10 Hz
+
+fn main() {
+    let lcm = Lcm::new().expect("Failed to create LCM transport");
+
+    println!("Robot control started");
+    println!("Subscribing to /odom, publishing to /cmd_vel");
+    println!("Press Ctrl+C to stop.\n");
+
+    let mut t: f64 = 0.0;
+    let mut next_publish = Instant::now();
+
+    loop {
+        // Poll for incoming messages
+        match lcm.try_recv() {
+            Ok(Some(msg)) if msg.channel == ODOM_CHANNEL => {
+                match PoseStamped::decode(&msg.data) {
+                    Ok(pose) => {
+                        let pos = &pose.pose.position;
+                        let ori = &pose.pose.orientation;
+                        println!(
+                            "[pose] x={:.2} y={:.2} z={:.2} | qw={:.2}",
+                            pos.x, pos.y, pos.z, ori.w
+                        );
+                    }
+                    Err(e) => eprintln!("[pose] decode error: {e}"),
+                }
+            }
+            Ok(Some(_)) => {} // ignore other channels
+            Ok(None) => {}
+            Err(e) => eprintln!("recv error: {e}"),
+        }
+
+        // Publish twist at 10 Hz
+        let now = Instant::now();
+        if now >= next_publish {
+            let twist = Twist {
+                linear: Vector3 {
+                    x: 0.5,
+                    y: 0.0,
+                    z: 0.0,
+                },
+                angular: Vector3 {
+                    x: 0.0,
+                    y: 0.0,
+                    z: t.sin() * 0.3,
+                },
+            };
+
+            let data = twist.encode();
+            if let Err(e) = lcm.publish(CMD_VEL_CHANNEL, &data) {
+                eprintln!("[twist] publish error: {e}");
+            } else {
+                println!(
+                    "[twist] linear={:.2} angular={:.2}",
+                    twist.linear.x, twist.angular.z
+                );
+            }
+
+            t += 0.1;
+            next_publish = now + PUBLISH_INTERVAL;
+        }
+
+        // Sleep until next publish deadline (capped at 10ms) to avoid busy-spinning
+        let sleep_dur = next_publish.saturating_duration_since(Instant::now()).min(Duration::from_millis(10));
+        thread::sleep(sleep_dur);
+    }
+}
diff --git a/examples/language-interop/tests/__init__.py b/examples/language-interop/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/language-interop/tests/conftest.py b/examples/language-interop/tests/conftest.py
new file mode 100644
index 0000000000..d206828fc5
--- /dev/null
+++ b/examples/language-interop/tests/conftest.py
@@ -0,0 +1,146 @@
+# 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.
+
+"""Fixtures for language-interop integration tests."""
+
+from __future__ import annotations
+
+from collections.abc import Generator
+import os
+from pathlib import Path
+import signal
+import subprocess
+import sys
+import time
+
+import pytest
+
+EXAMPLES_DIR = Path(__file__).resolve().parent.parent  # language-interop/
+SIMPLEROBOT_DIR = EXAMPLES_DIR.parent / "simplerobot"
+RUST_DIR = EXAMPLES_DIR / "rust"
+TS_DIR = EXAMPLES_DIR / "ts"
+CPP_DIR = EXAMPLES_DIR / "cpp"
+LUA_DIR = EXAMPLES_DIR / "lua"
+
+
+def pytest_configure(config: pytest.Config) -> None:
+    config.addinivalue_line("markers", "interop: cross-language interop integration test")
+
+
+@pytest.fixture(scope="module")
+def simplerobot() -> Generator[subprocess.Popen[str], None, None]:
+    """Start simplerobot.py --headless as a subprocess, tear down after tests."""
+    proc = subprocess.Popen(
+        [sys.executable, str(SIMPLEROBOT_DIR / "simplerobot.py"), "--headless"],
+        stdout=subprocess.DEVNULL,
+        stderr=subprocess.DEVNULL,
+        text=True,
+        cwd=str(SIMPLEROBOT_DIR),
+    )
+    # Give it time to start publishing
+    time.sleep(2)
+    yield proc
+    proc.send_signal(signal.SIGTERM)
+    try:
+        proc.wait(timeout=5)
+    except subprocess.TimeoutExpired:
+        proc.kill()
+        proc.wait(timeout=5)
+
+
+@pytest.fixture(scope="module")
+def rust_binary() -> Path:
+    """Build the Rust interop binary and return its path."""
+    cargo_toml = RUST_DIR / "Cargo.toml"
+    if not cargo_toml.exists():
+        pytest.skip("Rust example not found")
+
+    env = os.environ.copy()
+    cargo_home = Path.home() / ".cargo" / "bin"
+    if cargo_home.is_dir():
+        env["PATH"] = str(cargo_home) + os.pathsep + env.get("PATH", "")
+
+    result = subprocess.run(
+        ["cargo", "build", "--release"],
+        cwd=str(RUST_DIR),
+        capture_output=True,
+        text=True,
+        timeout=120,
+        env=env,
+    )
+    if result.returncode != 0:
+        pytest.skip(f"cargo build failed: {result.stderr}")
+
+    # Binary name from Cargo.toml [package] name = "robot-control"
+    binary = RUST_DIR / "target" / "release" / "robot-control"
+    if not binary.exists():
+        # Try to find any binary in release
+        release_dir = RUST_DIR / "target" / "release"
+        found = next(
+            (
+                f
+                for f in release_dir.iterdir()
+                if f.is_file() and os.access(f, os.X_OK) and not f.suffix and ".so" not in f.name
+            ),
+            None,
+        )
+        if found is None:
+            pytest.skip("No binary found after cargo build")
+        binary = found
+
+    return binary
+
+
+@pytest.fixture(scope="module")
+def cpp_binary() -> Path:
+    """Build the C++ interop binary and return its path."""
+    cmakelists = CPP_DIR / "CMakeLists.txt"
+    if not cmakelists.exists():
+        pytest.skip("C++ example not found")
+
+    build_dir = CPP_DIR / "build"
+    build_dir.mkdir(exist_ok=True)
+
+    cmake_result = subprocess.run(
+        ["cmake", ".."],
+        cwd=str(build_dir),
+        capture_output=True,
+        text=True,
+        timeout=30,
+    )
+    if cmake_result.returncode != 0:
+        pytest.skip(f"cmake failed: {cmake_result.stderr}")
+
+    make_result = subprocess.run(
+        ["make", "-j4"],
+        cwd=str(build_dir),
+        capture_output=True,
+        text=True,
+        timeout=60,
+    )
+    if make_result.returncode != 0:
+        pytest.skip(f"make failed: {make_result.stderr}")
+
+    # Find the built binary
+    binary = next(
+        (
+            f
+            for f in build_dir.iterdir()
+            if f.is_file() and os.access(f, os.X_OK) and not f.suffix and ".so" not in f.name
+        ),
+        None,
+    )
+    if binary is None:
+        pytest.skip("No C++ binary found after build")
+    return binary
diff --git a/examples/language-interop/tests/test_cpp_interop.py b/examples/language-interop/tests/test_cpp_interop.py
new file mode 100644
index 0000000000..356dc7446f
--- /dev/null
+++ b/examples/language-interop/tests/test_cpp_interop.py
@@ -0,0 +1,51 @@
+# 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.
+
+"""Integration test: C++ robot-control binary talks to Python simplerobot via LCM."""
+
+from __future__ import annotations
+
+from pathlib import Path
+import subprocess
+
+import pytest
+
+pytestmark = pytest.mark.interop
+
+
+def test_cpp_receives_pose_and_publishes_twist(
+    simplerobot: subprocess.Popen[str],
+    cpp_binary: Path,
+) -> None:
+    """Run the C++ binary for a few seconds and verify message exchange."""
+    try:
+        result = subprocess.run(
+            [str(cpp_binary)],
+            capture_output=True,
+            text=True,
+            timeout=5,
+        )
+    except subprocess.TimeoutExpired as e:
+        stdout = e.stdout or ""
+        stderr = e.stderr or ""
+    else:
+        stdout = result.stdout
+        stderr = result.stderr
+
+    assert "[pose]" in stdout, (
+        f"C++ binary never received a PoseStamped.\nstdout: {stdout!r}\nstderr: {stderr!r}"
+    )
+    assert "[twist]" in stdout, (
+        f"C++ binary never published a Twist.\nstdout: {stdout!r}\nstderr: {stderr!r}"
+    )
diff --git a/examples/language-interop/tests/test_lua_interop.py b/examples/language-interop/tests/test_lua_interop.py
new file mode 100644
index 0000000000..6ea740fdba
--- /dev/null
+++ b/examples/language-interop/tests/test_lua_interop.py
@@ -0,0 +1,61 @@
+# 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.
+
+"""Integration test: Lua robot-control script talks to Python simplerobot via LCM."""
+
+from __future__ import annotations
+
+import shutil
+import subprocess
+
+import pytest
+
+from .conftest import LUA_DIR
+
+pytestmark = pytest.mark.interop
+
+
+@pytest.fixture(scope="module")
+def lua_available() -> None:
+    if shutil.which("lua") is None and shutil.which("lua5.4") is None:
+        pytest.skip("lua not found on PATH")
+
+
+def test_lua_receives_pose_and_publishes_twist(
+    simplerobot: subprocess.Popen[str],
+    lua_available: None,
+) -> None:
+    """Run the Lua script for a few seconds and verify message exchange."""
+    lua_bin = shutil.which("lua") or shutil.which("lua5.4") or "lua"
+    try:
+        result = subprocess.run(
+            [lua_bin, str(LUA_DIR / "main.lua")],
+            capture_output=True,
+            text=True,
+            timeout=5,
+            cwd=str(LUA_DIR),
+        )
+    except subprocess.TimeoutExpired as e:
+        stdout = e.stdout or ""
+        stderr = e.stderr or ""
+    else:
+        stdout = result.stdout
+        stderr = result.stderr
+
+    assert "[pose]" in stdout, (
+        f"Lua script never received a PoseStamped.\nstdout: {stdout!r}\nstderr: {stderr!r}"
+    )
+    assert "[twist]" in stdout, (
+        f"Lua script never published a Twist.\nstdout: {stdout!r}\nstderr: {stderr!r}"
+    )
diff --git a/examples/language-interop/tests/test_rust_interop.py b/examples/language-interop/tests/test_rust_interop.py
new file mode 100644
index 0000000000..e563cbd56d
--- /dev/null
+++ b/examples/language-interop/tests/test_rust_interop.py
@@ -0,0 +1,72 @@
+# 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.
+
+"""Integration test: Rust robot-control binary talks to Python simplerobot via LCM."""
+
+from __future__ import annotations
+
+import os
+from pathlib import Path
+import subprocess
+
+import pytest
+
+pytestmark = pytest.mark.interop
+
+
+def _run_rust_binary(rust_binary: Path, timeout: int = 5) -> tuple[str, str]:
+    """Run the Rust binary and return (stdout, stderr)."""
+    try:
+        result = subprocess.run(
+            [str(rust_binary)],
+            capture_output=True,
+            text=True,
+            timeout=timeout,
+        )
+        return result.stdout, result.stderr
+    except subprocess.TimeoutExpired as e:
+        # text=True means stdout/stderr are str, but stubs type them as bytes | str | None
+        return str(e.stdout or ""), str(e.stderr or "")
+
+
+def test_rust_binary_publishes_twist(
+    simplerobot: subprocess.Popen[str],
+    rust_binary: Path,
+) -> None:
+    """Rust binary starts up and publishes Twist commands."""
+    stdout, stderr = _run_rust_binary(rust_binary)
+
+    assert "[twist]" in stdout, (
+        f"Rust binary never published a Twist.\nstdout: {stdout!r}\nstderr: {stderr!r}"
+    )
+
+
+@pytest.mark.skipif(
+    os.environ.get("CI_NO_MULTICAST") is not None,
+    reason="multicast unavailable",
+)
+def test_rust_binary_receives_pose(
+    simplerobot: subprocess.Popen[str],
+    rust_binary: Path,
+) -> None:
+    """Rust binary receives PoseStamped from simplerobot via LCM multicast.
+
+    This test requires working UDP multicast between processes.
+    """
+    stdout, stderr = _run_rust_binary(rust_binary)
+
+    assert "[pose]" in stdout, (
+        f"Rust binary never received a PoseStamped from simplerobot.\n"
+        f"stdout: {stdout!r}\nstderr: {stderr!r}"
+    )
diff --git a/examples/language-interop/tests/test_ts_interop.py b/examples/language-interop/tests/test_ts_interop.py
new file mode 100644
index 0000000000..80adec20ba
--- /dev/null
+++ b/examples/language-interop/tests/test_ts_interop.py
@@ -0,0 +1,60 @@
+# 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.
+
+"""Integration test: TypeScript (Deno) robot-control talks to Python simplerobot via LCM."""
+
+from __future__ import annotations
+
+import shutil
+import subprocess
+
+import pytest
+
+from .conftest import TS_DIR
+
+pytestmark = pytest.mark.interop
+
+
+@pytest.fixture(scope="module")
+def deno_available() -> None:
+    if shutil.which("deno") is None:
+        pytest.skip("deno not found on PATH")
+
+
+def test_ts_receives_pose_and_publishes_twist(
+    simplerobot: subprocess.Popen[str],
+    deno_available: None,
+) -> None:
+    """Run the Deno TS script for a few seconds and verify message exchange."""
+    try:
+        result = subprocess.run(
+            ["deno", "run", "--allow-net", "--unstable-net", str(TS_DIR / "main.ts")],
+            capture_output=True,
+            text=True,
+            timeout=5,
+            cwd=str(TS_DIR),
+        )
+    except subprocess.TimeoutExpired as e:
+        stdout = e.stdout or ""
+        stderr = e.stderr or ""
+    else:
+        stdout = result.stdout
+        stderr = result.stderr
+
+    assert "[pose]" in stdout, (
+        f"TS script never received a PoseStamped.\nstdout: {stdout!r}\nstderr: {stderr!r}"
+    )
+    assert "[twist]" in stdout, (
+        f"TS script never published a Twist.\nstdout: {stdout!r}\nstderr: {stderr!r}"
+    )
diff --git a/examples/language-interop/tests/test_wire_compat.py b/examples/language-interop/tests/test_wire_compat.py
new file mode 100644
index 0000000000..4f463febf8
--- /dev/null
+++ b/examples/language-interop/tests/test_wire_compat.py
@@ -0,0 +1,117 @@
+# 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.
+
+"""Wire-format compatibility tests.
+
+Validates that Python LCM encoding matches known binary layouts from the Rust
+dimos-lcm implementation, ensuring cross-language wire compatibility without
+needing to build or run any non-Python code.
+"""
+
+from __future__ import annotations
+
+import struct
+
+from dimos.msgs.geometry_msgs.Twist import Twist
+from dimos.msgs.geometry_msgs.Vector3 import Vector3
+
+# Known fingerprints from dimos-lcm Rust tests (roundtrip.rs)
+VECTOR3_FINGERPRINT = 0xAE7E5FBA5EECA11E
+TWIST_FINGERPRINT = 0x2E7C07D7CDF7E027
+
+
+def test_vector3_fingerprint() -> None:
+    """Python Vector3 encoding starts with the same fingerprint as Rust."""
+    v = Vector3(1.5, 2.5, 3.5)
+    encoded = v.lcm_encode()
+    fingerprint = struct.unpack(">Q", encoded[:8])[0]
+    assert fingerprint == VECTOR3_FINGERPRINT, (
+        f"Vector3 fingerprint mismatch: got 0x{fingerprint:016X}, "
+        f"expected 0x{VECTOR3_FINGERPRINT:016X}"
+    )
+
+
+def test_twist_fingerprint() -> None:
+    """Python Twist encoding starts with the same fingerprint as Rust."""
+    t = Twist(linear=Vector3(0, 0, 0), angular=Vector3(0, 0, 0))
+    encoded = t.lcm_encode()
+    fingerprint = struct.unpack(">Q", encoded[:8])[0]
+    assert fingerprint == TWIST_FINGERPRINT, (
+        f"Twist fingerprint mismatch: got 0x{fingerprint:016X}, expected 0x{TWIST_FINGERPRINT:016X}"
+    )
+
+
+def test_vector3_known_binary_layout() -> None:
+    """Python Vector3(1.5, 2.5, 3.5) produces exact same bytes as Rust."""
+    v = Vector3(1.5, 2.5, 3.5)
+    encoded = v.lcm_encode()
+
+    # 8-byte fingerprint + 3x8-byte f64 = 32 bytes
+    assert len(encoded) == 32
+
+    # Fingerprint
+    assert encoded[:8] == struct.pack(">Q", VECTOR3_FINGERPRINT)
+
+    # x=1.5 as f64 big-endian
+    assert encoded[8:16] == struct.pack(">d", 1.5)
+
+    # y=2.5 as f64 big-endian
+    assert encoded[16:24] == struct.pack(">d", 2.5)
+
+    # z=3.5 as f64 big-endian
+    assert encoded[24:32] == struct.pack(">d", 3.5)
+
+
+def test_twist_known_binary_layout() -> None:
+    """Python Twist encoding matches Rust binary layout byte-for-byte."""
+    t = Twist(
+        linear=Vector3(1.0, 2.0, 3.0),
+        angular=Vector3(0.1, 0.2, 0.3),
+    )
+    encoded = t.lcm_encode()
+
+    # 8-byte fingerprint + 6x8-byte f64 = 56 bytes
+    assert len(encoded) == 56
+
+    # Fingerprint
+    assert encoded[:8] == struct.pack(">Q", TWIST_FINGERPRINT)
+
+    # linear.x, linear.y, linear.z
+    assert encoded[8:16] == struct.pack(">d", 1.0)
+    assert encoded[16:24] == struct.pack(">d", 2.0)
+    assert encoded[24:32] == struct.pack(">d", 3.0)
+
+    # angular.x, angular.y, angular.z
+    assert encoded[32:40] == struct.pack(">d", 0.1)
+    assert encoded[40:48] == struct.pack(">d", 0.2)
+    assert encoded[48:56] == struct.pack(">d", 0.3)
+
+
+def test_vector3_roundtrip_cross_language() -> None:
+    """Encode in Python, verify Rust would decode the same values."""
+    v = Vector3(42.0, -17.5, 0.001)
+    encoded = v.lcm_encode()
+    decoded = Vector3.lcm_decode(encoded)
+    assert decoded.x == v.x
+    assert decoded.y == v.y
+    assert decoded.z == v.z
+
+
+def test_twist_roundtrip_cross_language() -> None:
+    """Encode in Python, verify Rust would decode the same values."""
+    t = Twist(linear=Vector3(1.5, 2.5, 3.5), angular=Vector3(0.1, 0.2, 0.3))
+    encoded = t.lcm_encode()
+    decoded = Twist.lcm_decode(encoded)
+    assert decoded.linear == t.linear
+    assert decoded.angular == t.angular