feat: scene-layout JSON export and rig files for operator tools#31
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Add a deterministic scene-layout JSON contract (a regenerable projection of an instance at a given eval_seed/epoch, single-source frame-local coordinates) plus a hand-authored per-lab rig format that anchors the bench frame to the two arm bases. specs.py stays the source of truth; the JSON is generated, never edited. - layout.py: export_scene_layout, canonical serializer, strict loaders (frozen dataclasses, field-specific errors, bench-handedness check), kitchenbench-layout CLI ([project.scripts]) - schemas/: draft 2020-12 JSON Schemas shipped as package data - rigs/yam-bimanual.json: reference rig - docs/layouts.md: formats, frame convention, determinism story - tests: determinism, seed alignment, blueprint fidelity, 50-instance schema sweep (jsonschema, dev extra only), loader rejections, CLI Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01KXT3ha5z8tirtRQSFbHgae
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What
Adds a machine-readable placement layer for operator setup tools and simulator adapters, per the design discussed in-session:
export_scene_layout(instance_id, eval_seed=0, epoch=0)derives the trial seed exactly aseval()does (derive_seed(eval_seed, crc32(instance_id), epoch)) and projectsbuild_blueprint()into a versioned JSON contract. Coordinates are single-source and frame-local: each object carriesframe("bench"or a parent object name) plusxy_cm; no resolved duplicates.rigs/yam-bimanual.json.layout_versions rejected.jsonschemain the dev extra only).kitchenbench-layout <instance_id> [--eval-seed N] [--epoch N] [-o FILE], byte-identical output for identical inputs.docs/layouts.md(formats, frame convention, determinism story).specs.pyremains the single source of truth; the JSON is a regenerable projection pinned bykitchenbench_version+sim_contract_version. Nothing undersim/,specs.py, orinstances.pychanged.Verification
ruff check/ruff format --check: cleanmypy(strict): cleanpytest --cov: 376 passed, 100% coveragemkdocs build --strict: clean🤖 Generated with Claude Code
https://claude.ai/code/session_01KXT3ha5z8tirtRQSFbHgae