From 063f3a25254fee593d14893e0020d030b6570263 Mon Sep 17 00:00:00 2001
From: Aris Zhu <ariscjj@outlook.com>
Date: Tue, 21 Jul 2026 20:01:32 -0700
Subject: [PATCH] feat: scene-layout JSON export and rig files for operator
 tools

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
---
 docs/layouts.md                               |  86 ++++
 mkdocs.yml                                    |   1 +
 pyproject.toml                                |   4 +
 rigs/yam-bimanual.json                        |  14 +
 src/kitchenbench/__init__.py                  |   5 +
 src/kitchenbench/layout.py                    | 351 ++++++++++++++++
 src/kitchenbench/schemas/rig.schema.json      |  52 +++
 .../schemas/scene-layout.schema.json          |  57 +++
 tests/test_api_snapshot.py                    |   4 +
 tests/test_layout.py                          | 395 ++++++++++++++++++
 uv.lock                                       | 309 +++++++++++++-
 11 files changed, 1277 insertions(+), 1 deletion(-)
 create mode 100644 docs/layouts.md
 create mode 100644 rigs/yam-bimanual.json
 create mode 100644 src/kitchenbench/layout.py
 create mode 100644 src/kitchenbench/schemas/rig.schema.json
 create mode 100644 src/kitchenbench/schemas/scene-layout.schema.json
 create mode 100644 tests/test_layout.py

diff --git a/docs/layouts.md b/docs/layouts.md
new file mode 100644
index 0000000..1436057
--- /dev/null
+++ b/docs/layouts.md
@@ -0,0 +1,86 @@
+# Layouts
+
+KitchenBench scene layouts provide machine-readable object poses for one trial.
+Rig files describe how a physical bimanual system relates to the same bench
+frame.
+
+## Frame convention
+
+The bench origin is between the arm bases at table height. The +x axis points
+to the robot's right, and +y points away from the arms. The left arm is based
+at negative x and the right arm is based at positive x. Object coordinates are
+frame-local. An object whose `frame` is `bench` uses bench coordinates. Any
+other value names the parent object's frame.
+
+Lengths are centimeters and angles are degrees.
+
+## Scene layout format
+
+A scene layout is generated from an instance and trial coordinates. Optional
+`size_cm` and `amount_g` fields appear only when the realized object defines
+them.
+
+```json
+{
+  "layout_version": 1,
+  "kitchenbench_version": "<kitchenbench.__version__>",
+  "sim_contract_version": 1,
+  "instance_id": "seal_container/twist-lid-jar",
+  "eval_seed": 0,
+  "epoch": 0,
+  "seed": 812041,
+  "instruction": "seal the jar with its lid",
+  "target_kind": "seal",
+  "objects": [
+    {"name": "jar", "asset": "jar", "role": "container", "frame": "bench", "xy_cm": [-1.4, 0.0], "yaw_deg": 0.0},
+    {"name": "lid", "asset": "lid", "role": "lid", "frame": "jar", "xy_cm": [8.0, 0.0], "yaw_deg": 0.0}
+  ],
+  "conditions": {"thread_turns": 2, "seat_torque_nm": 1.3},
+  "setup_values": {"jar_x_cm": -1.4, "thread_turns": 2, "seat_torque_nm": 1.3}
+}
+```
+
+The JSON is a regenerable projection of `(instance_id, eval_seed, epoch)` at a
+pinned KitchenBench version. The single source of truth remains in the task and
+simulation annotations in code. Do not hand-edit scene layouts. Generate them
+again from the same coordinates when needed.
+
+## Rig format
+
+Rigs are hand-authored. They describe arm bases and optional reach, frame
+documentation, and bench dimensions. The loader enforces the left-at-negative-x
+and right-at-positive-x convention.
+
+```json
+{
+  "layout_version": 1,
+  "rig_id": "yam-bimanual",
+  "frame": {
+    "origin": "midpoint between the two arm bases, projected to table height",
+    "axes": {"+x": "robot right", "+y": "away from the arms"},
+    "units": {"length": "cm", "angle": "deg"}
+  },
+  "arms": {
+    "left": {"base_xy_cm": [-30.0, -20.0], "faces": "+y", "reach_cm": 65},
+    "right": {"base_xy_cm": [30.0, -20.0], "faces": "+y", "reach_cm": 65}
+  },
+  "bench": {"size_cm": [120, 60]}
+}
+```
+
+The packaged schemas are `schemas/scene-layout.schema.json` and
+`schemas/rig.schema.json` within the `kitchenbench` installation.
+
+## Command line usage
+
+Write canonical JSON to standard output:
+
+```console
+kitchenbench-layout seal_container/twist-lid-jar --eval-seed 0 --epoch 0
+```
+
+Write the same representation to a file:
+
+```console
+kitchenbench-layout seal_container/twist-lid-jar --eval-seed 0 --epoch 0 -o layout.json
+```
diff --git a/mkdocs.yml b/mkdocs.yml
index 1f92592..4170aa0 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -55,3 +55,4 @@ plugins:
 
 nav:
   - Home: index.md
+  - Layouts: layouts.md
diff --git a/pyproject.toml b/pyproject.toml
index e4bfe41..79d65c5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -23,6 +23,7 @@ dependencies = ["inspect-robots>=0.6", "numpy>=1.24"]
 
 [project.optional-dependencies]
 dev = [
+    "jsonschema>=4.21",
     "pytest>=8.0",
     "pytest-cov>=5.0",
     "ruff>=0.6",
@@ -42,6 +43,9 @@ Documentation = "https://robocurve.github.io/kitchenbench/"
 Collection = "https://github.com/robocurve/worldevals"
 Framework = "https://github.com/robocurve/inspect-robots"
 
+[project.scripts]
+kitchenbench-layout = "kitchenbench.layout:main"
+
 # Inspect Robots resolves from PyPI. For local development against a sibling
 # checkout, use an editable install:
 #   uv pip install -e ../inspect-robots
diff --git a/rigs/yam-bimanual.json b/rigs/yam-bimanual.json
new file mode 100644
index 0000000..b99c280
--- /dev/null
+++ b/rigs/yam-bimanual.json
@@ -0,0 +1,14 @@
+{
+  "layout_version": 1,
+  "rig_id": "yam-bimanual",
+  "frame": {
+    "origin": "midpoint between the two arm bases, projected to table height",
+    "axes": {"+x": "robot right", "+y": "away from the arms"},
+    "units": {"length": "cm", "angle": "deg"}
+  },
+  "arms": {
+    "left": {"base_xy_cm": [-30.0, -20.0], "faces": "+y", "reach_cm": 65},
+    "right": {"base_xy_cm": [30.0, -20.0], "faces": "+y", "reach_cm": 65}
+  },
+  "bench": {"size_cm": [120, 60]}
+}
diff --git a/src/kitchenbench/__init__.py b/src/kitchenbench/__init__.py
index 42ffbd1..ae5b6d3 100644
--- a/src/kitchenbench/__init__.py
+++ b/src/kitchenbench/__init__.py
@@ -30,6 +30,7 @@
     Validation,
     Var,
 )
+from kitchenbench.layout import LAYOUT_VERSION, export_scene_layout, load_rig, load_scene_layout
 from kitchenbench.policies import (
     NoopKitchenPolicy,
     RandomKitchenPolicy,
@@ -78,6 +79,7 @@
     "K_EXPERTS",
     "K_INSTANCES",
     "K_REALIZATIONS",
+    "LAYOUT_VERSION",
     "SIM_CONTRACT_VERSION",
     "SPECS",
     "SPEC_BY_KEY",
@@ -106,8 +108,11 @@
     "__version__",
     "build_blueprint",
     "build_scenes",
+    "export_scene_layout",
     "fold_cloth",
     "handoff",
+    "load_rig",
+    "load_scene_layout",
     "make_success_checker",
     "make_task",
     "open_container",
diff --git a/src/kitchenbench/layout.py b/src/kitchenbench/layout.py
new file mode 100644
index 0000000..46c5029
--- /dev/null
+++ b/src/kitchenbench/layout.py
@@ -0,0 +1,351 @@
+"""Export and validate deterministic scene layouts and hand-authored rig geometry.
+
+Scene layouts are regenerable projections of a benchmark instance and trial
+seed. Rig files bind those layouts to the same bench frame used by the sim
+contract: +x is robot right, with the left arm based at -x.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+from collections.abc import Mapping, Sequence
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any, TypeAlias, cast
+
+from inspect_robots.rollout import derive_seed
+
+from kitchenbench.sim.blueprint import build_blueprint
+from kitchenbench.specs import SPEC_BY_KEY
+from kitchenbench.tasks import build_scenes
+
+#: Version of the scene-layout and rig file contracts.
+LAYOUT_VERSION = 1
+
+JsonValue: TypeAlias = str | int | float | bool | None | list["JsonValue"] | dict[str, "JsonValue"]
+
+
+@dataclass(frozen=True)
+class LayoutObject:
+    """One object's frame-local pose and optional realized physical properties."""
+
+    name: str
+    asset: str
+    role: str | None
+    frame: str
+    xy_cm: tuple[float, float]
+    yaw_deg: float
+    size_cm: float | None = None
+    amount_g: float | None = None
+
+
+@dataclass(frozen=True)
+class SceneLayout:
+    """A validated, deterministic projection of one KitchenBench trial setup."""
+
+    layout_version: int
+    kitchenbench_version: str
+    sim_contract_version: int
+    instance_id: str
+    eval_seed: int
+    epoch: int
+    seed: int
+    instruction: str
+    target_kind: str
+    objects: tuple[LayoutObject, ...]
+    conditions: dict[str, JsonValue]
+    setup_values: dict[str, JsonValue]
+
+
+@dataclass(frozen=True)
+class ArmSpec:
+    """A validated arm base pose, facing direction, and optional reach."""
+
+    base_xy_cm: tuple[float, float]
+    faces: str
+    reach_cm: float | None = None
+
+
+@dataclass(frozen=True)
+class Rig:
+    """A validated bimanual rig expressed in the KitchenBench bench frame."""
+
+    layout_version: int
+    rig_id: str
+    arms: dict[str, ArmSpec]
+    frame: dict[str, JsonValue] | None = None
+    bench: dict[str, JsonValue] | None = None
+
+
+def export_scene_layout(instance_id: str, *, eval_seed: int = 0, epoch: int = 0) -> dict[str, Any]:
+    """Project one instance and trial coordinates into the layout JSON contract.
+
+    Raises ``KeyError`` when the task key or full instance identifier is not in
+    the shipped benchmark specification.
+    """
+    key = instance_id.split("/")[0]
+    try:
+        spec = SPEC_BY_KEY[key]
+    except KeyError:
+        raise KeyError(f"unknown task key {key!r} from instance {instance_id!r}") from None
+
+    scene = next(
+        (
+            candidate
+            for candidate in build_scenes(spec)
+            if candidate.metadata["instance_id"] == instance_id
+        ),
+        None,
+    )
+    if scene is None:
+        raise KeyError(f"unknown instance {instance_id!r} in task {key!r}")
+
+    seed = derive_seed(eval_seed, scene.init_seed, epoch)
+    blueprint = build_blueprint(scene, seed)
+    objects: list[dict[str, Any]] = []
+    for obj in blueprint.objects:
+        projected: dict[str, Any] = {
+            "name": obj.name,
+            "asset": obj.asset,
+            "role": obj.role,
+            "frame": "bench" if obj.parent is None else obj.parent,
+            "xy_cm": [obj.x_cm, obj.y_cm],
+            "yaw_deg": obj.yaw_deg,
+        }
+        if obj.size_cm is not None:
+            projected["size_cm"] = obj.size_cm
+        if obj.amount_g is not None:
+            projected["amount_g"] = obj.amount_g
+        objects.append(projected)
+
+    from kitchenbench import __version__
+
+    return {
+        "layout_version": LAYOUT_VERSION,
+        "kitchenbench_version": __version__,
+        "sim_contract_version": blueprint.contract_version,
+        "instance_id": instance_id,
+        "eval_seed": eval_seed,
+        "epoch": epoch,
+        "seed": seed,
+        "instruction": blueprint.instruction,
+        "target_kind": blueprint.target_kind,
+        "objects": objects,
+        "conditions": dict(blueprint.conditions),
+        "setup_values": dict(blueprint.values),
+    }
+
+
+def scene_layout_json(layout: dict[str, Any]) -> str:
+    """Serialize a scene layout in the canonical stable text representation."""
+    return json.dumps(layout, sort_keys=True, indent=2) + "\n"
+
+
+def _mapping(value: object, field: str) -> dict[str, object]:
+    if not isinstance(value, dict):
+        raise ValueError(f"{field} must be an object")
+    return cast("dict[str, object]", value)
+
+
+def _list(value: object, field: str) -> list[object]:
+    if not isinstance(value, list):
+        raise ValueError(f"{field} must be a list")
+    return cast("list[object]", value)
+
+
+def _keys(
+    value: Mapping[str, object],
+    field: str,
+    *,
+    required: frozenset[str],
+    optional: frozenset[str] = frozenset(),
+) -> None:
+    unknown = set(value) - required - optional
+    if unknown:
+        raise ValueError(f"{field} has unknown field {min(unknown)!r}")
+    missing = required - set(value)
+    if missing:
+        raise ValueError(f"{field} is missing required field {min(missing)!r}")
+
+
+def _string(value: object, field: str, *, nonempty: bool = False) -> str:
+    if not isinstance(value, str):
+        raise ValueError(f"{field} must be a string")
+    if nonempty and not value:
+        raise ValueError(f"{field} must be a non-empty string")
+    return value
+
+
+def _integer(value: object, field: str) -> int:
+    if isinstance(value, bool) or not isinstance(value, int):
+        raise ValueError(f"{field} must be an integer")
+    return value
+
+
+def _number(value: object, field: str) -> float:
+    if isinstance(value, bool) or not isinstance(value, (int, float)):
+        raise ValueError(f"{field} must be a number")
+    return float(value)
+
+
+def _pair(value: object, field: str) -> tuple[float, float]:
+    values = _list(value, field)
+    if len(values) != 2:
+        raise ValueError(f"{field} must contain exactly 2 numbers")
+    return _number(values[0], f"{field}[0]"), _number(values[1], f"{field}[1]")
+
+
+def _json_mapping(value: object, field: str) -> dict[str, JsonValue]:
+    mapping = _mapping(value, field)
+    return cast("dict[str, JsonValue]", mapping)
+
+
+_LAYOUT_KEYS = frozenset(
+    {
+        "layout_version",
+        "kitchenbench_version",
+        "sim_contract_version",
+        "instance_id",
+        "eval_seed",
+        "epoch",
+        "seed",
+        "instruction",
+        "target_kind",
+        "objects",
+        "conditions",
+        "setup_values",
+    }
+)
+_OBJECT_KEYS = frozenset({"name", "asset", "role", "frame", "xy_cm", "yaw_deg"})
+_OBJECT_OPTIONAL_KEYS = frozenset({"size_cm", "amount_g"})
+
+
+def _layout_object(value: object, index: int) -> LayoutObject:
+    field = f"objects[{index}]"
+    mapping = _mapping(value, field)
+    _keys(
+        mapping,
+        field,
+        required=_OBJECT_KEYS,
+        optional=_OBJECT_OPTIONAL_KEYS,
+    )
+    role_value = mapping["role"]
+    if role_value is not None and not isinstance(role_value, str):
+        raise ValueError(f"{field}.role must be a string or null")
+    return LayoutObject(
+        name=_string(mapping["name"], f"{field}.name"),
+        asset=_string(mapping["asset"], f"{field}.asset"),
+        role=role_value,
+        frame=_string(mapping["frame"], f"{field}.frame"),
+        xy_cm=_pair(mapping["xy_cm"], f"{field}.xy_cm"),
+        yaw_deg=_number(mapping["yaw_deg"], f"{field}.yaw_deg"),
+        size_cm=(_number(mapping["size_cm"], f"{field}.size_cm") if "size_cm" in mapping else None),
+        amount_g=(
+            _number(mapping["amount_g"], f"{field}.amount_g") if "amount_g" in mapping else None
+        ),
+    )
+
+
+def load_scene_layout(path: str | Path) -> SceneLayout:
+    """Read and strictly validate a scene-layout JSON file."""
+    raw = cast(object, json.loads(Path(path).read_text(encoding="utf-8")))
+    layout = _mapping(raw, "scene layout")
+    _keys(layout, "scene layout", required=_LAYOUT_KEYS)
+    layout_version = _integer(layout["layout_version"], "layout_version")
+    if layout_version != LAYOUT_VERSION:
+        raise ValueError(f"layout_version must be {LAYOUT_VERSION}, got {layout_version}")
+    objects = _list(layout["objects"], "objects")
+    return SceneLayout(
+        layout_version=layout_version,
+        kitchenbench_version=_string(layout["kitchenbench_version"], "kitchenbench_version"),
+        sim_contract_version=_integer(layout["sim_contract_version"], "sim_contract_version"),
+        instance_id=_string(layout["instance_id"], "instance_id"),
+        eval_seed=_integer(layout["eval_seed"], "eval_seed"),
+        epoch=_integer(layout["epoch"], "epoch"),
+        seed=_integer(layout["seed"], "seed"),
+        instruction=_string(layout["instruction"], "instruction"),
+        target_kind=_string(layout["target_kind"], "target_kind"),
+        objects=tuple(_layout_object(obj, index) for index, obj in enumerate(objects)),
+        conditions=_json_mapping(layout["conditions"], "conditions"),
+        setup_values=_json_mapping(layout["setup_values"], "setup_values"),
+    )
+
+
+_RIG_KEYS = frozenset({"layout_version", "rig_id", "arms"})
+_RIG_OPTIONAL_KEYS = frozenset({"frame", "bench"})
+_ARM_KEYS = frozenset({"base_xy_cm", "faces"})
+_ARM_OPTIONAL_KEYS = frozenset({"reach_cm"})
+_FACES = frozenset({"+x", "-x", "+y", "-y"})
+
+
+def _arm(value: object, side: str) -> ArmSpec:
+    field = f"arms.{side}"
+    mapping = _mapping(value, field)
+    _keys(mapping, field, required=_ARM_KEYS, optional=_ARM_OPTIONAL_KEYS)
+    faces = _string(mapping["faces"], f"{field}.faces")
+    if faces not in _FACES:
+        raise ValueError(f"{field}.faces must be one of +x, -x, +y, -y")
+    reach = _number(mapping["reach_cm"], f"{field}.reach_cm") if "reach_cm" in mapping else None
+    if reach is not None and reach <= 0:
+        raise ValueError(f"{field}.reach_cm must be greater than 0")
+    return ArmSpec(
+        base_xy_cm=_pair(mapping["base_xy_cm"], f"{field}.base_xy_cm"),
+        faces=faces,
+        reach_cm=reach,
+    )
+
+
+def load_rig(path: str | Path) -> Rig:
+    """Read a rig JSON file and enforce its schema and bench-frame handedness."""
+    raw = cast(object, json.loads(Path(path).read_text(encoding="utf-8")))
+    rig = _mapping(raw, "rig")
+    _keys(rig, "rig", required=_RIG_KEYS, optional=_RIG_OPTIONAL_KEYS)
+    layout_version = _integer(rig["layout_version"], "layout_version")
+    if layout_version != LAYOUT_VERSION:
+        raise ValueError(f"layout_version must be {LAYOUT_VERSION}, got {layout_version}")
+
+    arms_value = _mapping(rig["arms"], "arms")
+    _keys(arms_value, "arms", required=frozenset({"left", "right"}))
+    arms = {side: _arm(arms_value[side], side) for side in ("left", "right")}
+    if not (arms["left"].base_xy_cm[0] < 0 < arms["right"].base_xy_cm[0]):
+        raise ValueError("arms must follow the bench convention: left base x < 0 < right base x")
+
+    frame = _json_mapping(rig["frame"], "frame") if "frame" in rig else None
+    bench: dict[str, JsonValue] | None = None
+    if "bench" in rig:
+        bench_value = _mapping(rig["bench"], "bench")
+        _keys(bench_value, "bench", required=frozenset({"size_cm"}))
+        size_cm = _pair(bench_value["size_cm"], "bench.size_cm")
+        bench = {"size_cm": [size_cm[0], size_cm[1]]}
+
+    return Rig(
+        layout_version=layout_version,
+        rig_id=_string(rig["rig_id"], "rig_id", nonempty=True),
+        arms=arms,
+        frame=frame,
+        bench=bench,
+    )
+
+
+def main(argv: Sequence[str] | None = None) -> int:
+    """Run the scene-layout exporter command and report lookup failures as usage errors."""
+    parser = argparse.ArgumentParser(prog="kitchenbench-layout")
+    parser.add_argument("instance_id")
+    parser.add_argument("--eval-seed", type=int, default=0)
+    parser.add_argument("--epoch", type=int, default=0)
+    parser.add_argument("-o", "--output", type=Path)
+    args = parser.parse_args(argv)
+    try:
+        rendered = scene_layout_json(
+            export_scene_layout(args.instance_id, eval_seed=args.eval_seed, epoch=args.epoch)
+        )
+    except KeyError as exc:
+        print(f"kitchenbench-layout: error: {exc.args[0]}", file=sys.stderr)
+        return 2
+    if args.output is None:
+        sys.stdout.write(rendered)
+    else:
+        args.output.write_text(rendered, encoding="utf-8")
+    return 0
diff --git a/src/kitchenbench/schemas/rig.schema.json b/src/kitchenbench/schemas/rig.schema.json
new file mode 100644
index 0000000..37530b3
--- /dev/null
+++ b/src/kitchenbench/schemas/rig.schema.json
@@ -0,0 +1,52 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://robocurve.github.io/kitchenbench/schemas/rig.schema.json",
+  "title": "KitchenBench bimanual rig",
+  "type": "object",
+  "additionalProperties": false,
+  "required": ["layout_version", "rig_id", "arms"],
+  "properties": {
+    "layout_version": {"const": 1},
+    "rig_id": {"type": "string", "minLength": 1},
+    "frame": {"type": "object"},
+    "arms": {
+      "type": "object",
+      "additionalProperties": false,
+      "required": ["left", "right"],
+      "properties": {
+        "left": {"$ref": "#/$defs/arm"},
+        "right": {"$ref": "#/$defs/arm"}
+      }
+    },
+    "bench": {
+      "type": "object",
+      "additionalProperties": false,
+      "required": ["size_cm"],
+      "properties": {
+        "size_cm": {
+          "type": "array",
+          "prefixItems": [{"type": "number"}, {"type": "number"}],
+          "minItems": 2,
+          "maxItems": 2
+        }
+      }
+    }
+  },
+  "$defs": {
+    "arm": {
+      "type": "object",
+      "additionalProperties": false,
+      "required": ["base_xy_cm", "faces"],
+      "properties": {
+        "base_xy_cm": {
+          "type": "array",
+          "prefixItems": [{"type": "number"}, {"type": "number"}],
+          "minItems": 2,
+          "maxItems": 2
+        },
+        "faces": {"enum": ["+x", "-x", "+y", "-y"]},
+        "reach_cm": {"type": "number", "exclusiveMinimum": 0}
+      }
+    }
+  }
+}
diff --git a/src/kitchenbench/schemas/scene-layout.schema.json b/src/kitchenbench/schemas/scene-layout.schema.json
new file mode 100644
index 0000000..ca0e6f7
--- /dev/null
+++ b/src/kitchenbench/schemas/scene-layout.schema.json
@@ -0,0 +1,57 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://robocurve.github.io/kitchenbench/schemas/scene-layout.schema.json",
+  "title": "KitchenBench scene layout",
+  "type": "object",
+  "additionalProperties": false,
+  "required": [
+    "layout_version",
+    "kitchenbench_version",
+    "sim_contract_version",
+    "instance_id",
+    "eval_seed",
+    "epoch",
+    "seed",
+    "instruction",
+    "target_kind",
+    "objects",
+    "conditions",
+    "setup_values"
+  ],
+  "properties": {
+    "layout_version": {"const": 1},
+    "kitchenbench_version": {"type": "string"},
+    "sim_contract_version": {"type": "integer"},
+    "instance_id": {"type": "string"},
+    "eval_seed": {"type": "integer"},
+    "epoch": {"type": "integer"},
+    "seed": {"type": "integer"},
+    "instruction": {"type": "string"},
+    "target_kind": {"type": "string"},
+    "objects": {
+      "type": "array",
+      "items": {
+        "type": "object",
+        "additionalProperties": false,
+        "required": ["name", "asset", "role", "frame", "xy_cm", "yaw_deg"],
+        "properties": {
+          "name": {"type": "string"},
+          "asset": {"type": "string"},
+          "role": {"type": ["string", "null"]},
+          "frame": {"type": "string"},
+          "xy_cm": {
+            "type": "array",
+            "prefixItems": [{"type": "number"}, {"type": "number"}],
+            "minItems": 2,
+            "maxItems": 2
+          },
+          "yaw_deg": {"type": "number"},
+          "size_cm": {"type": "number"},
+          "amount_g": {"type": "number"}
+        }
+      }
+    },
+    "conditions": {"type": "object"},
+    "setup_values": {"type": "object"}
+  }
+}
diff --git a/tests/test_api_snapshot.py b/tests/test_api_snapshot.py
index 4fd20b4..017bdfc 100644
--- a/tests/test_api_snapshot.py
+++ b/tests/test_api_snapshot.py
@@ -17,6 +17,7 @@
     "K_EXPERTS",
     "K_INSTANCES",
     "K_REALIZATIONS",
+    "LAYOUT_VERSION",
     "KitchenEmbodiment",
     "NoopKitchenPolicy",
     "Normal",
@@ -37,8 +38,11 @@
     "__version__",
     "build_blueprint",
     "build_scenes",
+    "export_scene_layout",
     "fold_cloth",
     "handoff",
+    "load_rig",
+    "load_scene_layout",
     "make_success_checker",
     "make_task",
     "open_container",
diff --git a/tests/test_layout.py b/tests/test_layout.py
new file mode 100644
index 0000000..2d4fe00
--- /dev/null
+++ b/tests/test_layout.py
@@ -0,0 +1,395 @@
+"""Scene-layout export, strict loading, schemas, rig geometry, and CLI behavior."""
+
+from __future__ import annotations
+
+import json
+import zlib
+from importlib.resources import files
+from pathlib import Path
+from typing import Any
+
+import jsonschema
+import pytest
+from inspect_robots.rollout import derive_seed
+
+from kitchenbench.layout import (
+    LAYOUT_VERSION,
+    export_scene_layout,
+    load_rig,
+    load_scene_layout,
+    main,
+    scene_layout_json,
+)
+from kitchenbench.sim.blueprint import build_blueprint
+from kitchenbench.specs import SPEC_BY_KEY
+from kitchenbench.tasks import build_scenes
+
+INSTANCE_ID = "seal_container/twist-lid-jar"
+REPO_ROOT = Path(__file__).resolve().parents[1]
+
+
+def _write_json(tmp_path: Path, value: object, name: str = "value.json") -> Path:
+    path = tmp_path / name
+    path.write_text(json.dumps(value), encoding="utf-8")
+    return path
+
+
+def _layout() -> dict[str, Any]:
+    return export_scene_layout(INSTANCE_ID)
+
+
+def _rig() -> dict[str, Any]:
+    return json.loads((REPO_ROOT / "rigs" / "yam-bimanual.json").read_text(encoding="utf-8"))
+
+
+def test_export_is_deterministic_and_epoch_sensitive() -> None:
+    first = export_scene_layout(INSTANCE_ID, eval_seed=0, epoch=0)
+    second = export_scene_layout(INSTANCE_ID, eval_seed=0, epoch=0)
+    later = export_scene_layout(INSTANCE_ID, eval_seed=0, epoch=1)
+    assert scene_layout_json(first) == scene_layout_json(second)
+    assert scene_layout_json(first).endswith("\n")
+    assert first["seed"] != later["seed"]
+    assert first["setup_values"] != later["setup_values"]
+
+
+def test_export_seed_matches_rollout_derivation() -> None:
+    eval_seed = 91
+    epoch = 3
+    expected = derive_seed(
+        eval_seed,
+        zlib.crc32(INSTANCE_ID.encode()) & 0xFFFFFFFF,
+        epoch,
+    )
+    assert export_scene_layout(INSTANCE_ID, eval_seed=eval_seed, epoch=epoch)["seed"] == expected
+
+
+@pytest.mark.parametrize(
+    "instance_id",
+    ["stack/mixed-sizes", "pour_pasta/measuring-cup-to-bowl"],
+)
+def test_export_preserves_blueprint_objects(instance_id: str) -> None:
+    layout = export_scene_layout(instance_id, eval_seed=7, epoch=2)
+    key = instance_id.split("/")[0]
+    scene = next(
+        scene
+        for scene in build_scenes(SPEC_BY_KEY[key])
+        if scene.metadata["instance_id"] == instance_id
+    )
+    blueprint = build_blueprint(scene, layout["seed"])
+    assert len(layout["objects"]) == len(blueprint.objects)
+    for projected, obj in zip(layout["objects"], blueprint.objects, strict=True):
+        assert projected["name"] == obj.name
+        assert projected["asset"] == obj.asset
+        assert projected["role"] == obj.role
+        assert projected["frame"] == ("bench" if obj.parent is None else obj.parent)
+        assert projected["xy_cm"] == [obj.x_cm, obj.y_cm]
+        assert projected["yaw_deg"] == obj.yaw_deg
+        assert ("size_cm" in projected) == (obj.size_cm is not None)
+        assert ("amount_g" in projected) == (obj.amount_g is not None)
+        if obj.size_cm is not None:
+            assert projected["size_cm"] == obj.size_cm
+        if obj.amount_g is not None:
+            assert projected["amount_g"] == obj.amount_g
+
+
+def test_every_instance_exports_and_matches_packaged_schema() -> None:
+    schema = json.loads(
+        files("kitchenbench").joinpath("schemas/scene-layout.schema.json").read_text()
+    )
+    count = 0
+    for spec in SPEC_BY_KEY.values():
+        for instance in spec.instances:
+            jsonschema.validate(export_scene_layout(instance.instance_id), schema)
+            count += 1
+    assert count == 50
+
+
+def test_scene_layout_round_trip(tmp_path: Path) -> None:
+    layout = export_scene_layout("pour_pasta/measuring-cup-to-bowl", eval_seed=12, epoch=4)
+    path = tmp_path / "layout.json"
+    path.write_text(scene_layout_json(layout), encoding="utf-8")
+    loaded = load_scene_layout(str(path))
+    assert loaded.layout_version == layout["layout_version"]
+    assert loaded.kitchenbench_version == layout["kitchenbench_version"]
+    assert loaded.sim_contract_version == layout["sim_contract_version"]
+    assert loaded.instance_id == layout["instance_id"]
+    assert loaded.eval_seed == layout["eval_seed"]
+    assert loaded.epoch == layout["epoch"]
+    assert loaded.seed == layout["seed"]
+    assert loaded.instruction == layout["instruction"]
+    assert loaded.target_kind == layout["target_kind"]
+    assert loaded.conditions == layout["conditions"]
+    assert loaded.setup_values == layout["setup_values"]
+    for obj, value in zip(loaded.objects, layout["objects"], strict=True):
+        assert obj.name == value["name"]
+        assert obj.xy_cm == tuple(value["xy_cm"])
+        assert obj.size_cm == value.get("size_cm")
+        assert obj.amount_g == value.get("amount_g")
+
+
+def test_layout_accepts_null_role_and_empty_objects(tmp_path: Path) -> None:
+    layout = _layout()
+    layout["objects"] = []
+    assert load_scene_layout(_write_json(tmp_path, layout)).objects == ()
+    layout = _layout()
+    layout["objects"][0]["role"] = None
+    layout["objects"][0]["size_cm"] = 9
+    layout["objects"][0]["amount_g"] = 12
+    loaded = load_scene_layout(_write_json(tmp_path, layout)).objects[0]
+    assert loaded.role is None
+    assert loaded.size_cm == 9.0
+    assert loaded.amount_g == 12.0
+
+
+def test_export_rejects_unknown_task_and_instance() -> None:
+    with pytest.raises(KeyError, match=r"unknown task key.*retired"):
+        export_scene_layout("retired/example")
+    with pytest.raises(KeyError, match=r"unknown instance.*seal_container/retired"):
+        export_scene_layout("seal_container/retired")
+
+
+def test_layout_loader_rejects_non_object_and_top_level_keys(tmp_path: Path) -> None:
+    with pytest.raises(ValueError, match="scene layout must be an object"):
+        load_scene_layout(_write_json(tmp_path, []))
+    layout = _layout()
+    layout["typo"] = True
+    with pytest.raises(ValueError, match="unknown field 'typo'"):
+        load_scene_layout(_write_json(tmp_path, layout))
+    layout = _layout()
+    del layout["instruction"]
+    with pytest.raises(ValueError, match="missing required field 'instruction'"):
+        load_scene_layout(_write_json(tmp_path, layout))
+
+
+@pytest.mark.parametrize(
+    ("field", "value", "match"),
+    [
+        ("layout_version", "1", "layout_version must be an integer"),
+        ("kitchenbench_version", 1, "kitchenbench_version must be a string"),
+        ("sim_contract_version", "1", "sim_contract_version must be an integer"),
+        ("instance_id", 1, "instance_id must be a string"),
+        ("eval_seed", True, "eval_seed must be an integer"),
+        ("epoch", "0", "epoch must be an integer"),
+        ("seed", [], "seed must be an integer"),
+        ("instruction", None, "instruction must be a string"),
+        ("target_kind", False, "target_kind must be a string"),
+        ("objects", {}, "objects must be a list"),
+        ("conditions", [], "conditions must be an object"),
+        ("setup_values", [], "setup_values must be an object"),
+    ],
+)
+def test_layout_loader_rejects_wrong_top_level_types(
+    tmp_path: Path, field: str, value: object, match: str
+) -> None:
+    layout = _layout()
+    layout[field] = value
+    with pytest.raises(ValueError, match=match):
+        load_scene_layout(_write_json(tmp_path, layout))
+
+
+def test_layout_loader_rejects_unknown_version(tmp_path: Path) -> None:
+    layout = _layout()
+    layout["layout_version"] = LAYOUT_VERSION + 1
+    with pytest.raises(ValueError, match="layout_version must be 1, got 2"):
+        load_scene_layout(_write_json(tmp_path, layout))
+
+
+def test_layout_loader_rejects_non_object_and_bad_object_keys(tmp_path: Path) -> None:
+    layout = _layout()
+    layout["objects"][0] = "jar"
+    with pytest.raises(ValueError, match=r"objects\[0\] must be an object"):
+        load_scene_layout(_write_json(tmp_path, layout))
+    layout = _layout()
+    layout["objects"][0]["typo"] = 1
+    with pytest.raises(ValueError, match="unknown field 'typo'"):
+        load_scene_layout(_write_json(tmp_path, layout))
+    layout = _layout()
+    del layout["objects"][0]["asset"]
+    with pytest.raises(ValueError, match="missing required field 'asset'"):
+        load_scene_layout(_write_json(tmp_path, layout))
+
+
+@pytest.mark.parametrize(
+    ("field", "value", "match"),
+    [
+        ("name", 1, r"objects\[0\].name must be a string"),
+        ("asset", 1, r"objects\[0\].asset must be a string"),
+        ("role", 1, r"objects\[0\].role must be a string or null"),
+        ("frame", 1, r"objects\[0\].frame must be a string"),
+        ("xy_cm", "0, 0", r"objects\[0\].xy_cm must be a list"),
+        ("xy_cm", [0, 0, 0], r"objects\[0\].xy_cm must contain exactly 2 numbers"),
+        ("xy_cm", [True, 0], r"objects\[0\].xy_cm\[0\] must be a number"),
+        ("xy_cm", [0, "zero"], r"objects\[0\].xy_cm\[1\] must be a number"),
+        ("yaw_deg", True, r"objects\[0\].yaw_deg must be a number"),
+        ("yaw_deg", "0", r"objects\[0\].yaw_deg must be a number"),
+        ("size_cm", "1", r"objects\[0\].size_cm must be a number"),
+        ("amount_g", False, r"objects\[0\].amount_g must be a number"),
+    ],
+)
+def test_layout_loader_rejects_wrong_object_fields(
+    tmp_path: Path, field: str, value: object, match: str
+) -> None:
+    layout = _layout()
+    layout["objects"][0][field] = value
+    with pytest.raises(ValueError, match=match):
+        load_scene_layout(_write_json(tmp_path, layout))
+
+
+def test_rig_loads_and_matches_packaged_schema() -> None:
+    path = REPO_ROOT / "rigs" / "yam-bimanual.json"
+    rig = load_rig(str(path))
+    assert rig.rig_id == "yam-bimanual"
+    assert rig.arms["left"].base_xy_cm == (-30.0, -20.0)
+    assert rig.arms["right"].reach_cm == 65.0
+    assert rig.frame == _rig()["frame"]
+    assert rig.bench == {"size_cm": [120.0, 60.0]}
+    schema = json.loads(files("kitchenbench").joinpath("schemas/rig.schema.json").read_text())
+    jsonschema.validate(_rig(), schema)
+
+
+def test_minimal_rig_omits_optional_fields(tmp_path: Path) -> None:
+    rig = _rig()
+    del rig["frame"]
+    del rig["bench"]
+    del rig["arms"]["left"]["reach_cm"]
+    del rig["arms"]["right"]["reach_cm"]
+    loaded = load_rig(_write_json(tmp_path, rig))
+    assert loaded.frame is None
+    assert loaded.bench is None
+    assert loaded.arms["left"].reach_cm is None
+
+
+def test_rig_loader_rejects_non_object_and_top_level_keys(tmp_path: Path) -> None:
+    with pytest.raises(ValueError, match="rig must be an object"):
+        load_rig(_write_json(tmp_path, []))
+    rig = _rig()
+    rig["typo"] = True
+    with pytest.raises(ValueError, match="unknown field 'typo'"):
+        load_rig(_write_json(tmp_path, rig))
+    rig = _rig()
+    del rig["rig_id"]
+    with pytest.raises(ValueError, match="missing required field 'rig_id'"):
+        load_rig(_write_json(tmp_path, rig))
+
+
+@pytest.mark.parametrize(
+    ("field", "value", "match"),
+    [
+        ("layout_version", "1", "layout_version must be an integer"),
+        ("rig_id", 1, "rig_id must be a string"),
+        ("rig_id", "", "rig_id must be a non-empty string"),
+        ("arms", [], "arms must be an object"),
+        ("frame", [], "frame must be an object"),
+        ("bench", [], "bench must be an object"),
+    ],
+)
+def test_rig_loader_rejects_wrong_top_level_types(
+    tmp_path: Path, field: str, value: object, match: str
+) -> None:
+    rig = _rig()
+    rig[field] = value
+    with pytest.raises(ValueError, match=match):
+        load_rig(_write_json(tmp_path, rig))
+
+
+def test_rig_loader_rejects_unknown_version(tmp_path: Path) -> None:
+    rig = _rig()
+    rig["layout_version"] = 2
+    with pytest.raises(ValueError, match="layout_version must be 1, got 2"):
+        load_rig(_write_json(tmp_path, rig))
+
+
+def test_rig_loader_rejects_missing_or_unknown_arm(tmp_path: Path) -> None:
+    rig = _rig()
+    del rig["arms"]["left"]
+    with pytest.raises(ValueError, match="arms is missing required field 'left'"):
+        load_rig(_write_json(tmp_path, rig))
+    rig = _rig()
+    rig["arms"]["center"] = rig["arms"]["left"]
+    with pytest.raises(ValueError, match="arms has unknown field 'center'"):
+        load_rig(_write_json(tmp_path, rig))
+
+
+def test_rig_loader_rejects_non_object_and_bad_arm_keys(tmp_path: Path) -> None:
+    rig = _rig()
+    rig["arms"]["left"] = []
+    with pytest.raises(ValueError, match=r"arms\.left must be an object"):
+        load_rig(_write_json(tmp_path, rig))
+    rig = _rig()
+    rig["arms"]["left"]["typo"] = 1
+    with pytest.raises(ValueError, match=r"arms\.left has unknown field 'typo'"):
+        load_rig(_write_json(tmp_path, rig))
+    rig = _rig()
+    del rig["arms"]["left"]["faces"]
+    with pytest.raises(ValueError, match=r"arms\.left is missing required field 'faces'"):
+        load_rig(_write_json(tmp_path, rig))
+
+
+@pytest.mark.parametrize(
+    ("field", "value", "match"),
+    [
+        ("faces", 1, "arms.left.faces must be a string"),
+        ("faces", "up", "arms.left.faces must be one of"),
+        ("base_xy_cm", "0, 0", "arms.left.base_xy_cm must be a list"),
+        ("base_xy_cm", [-30, -20, 0], "must contain exactly 2 numbers"),
+        ("reach_cm", "65", "arms.left.reach_cm must be a number"),
+        ("reach_cm", 0, "arms.left.reach_cm must be greater than 0"),
+    ],
+)
+def test_rig_loader_rejects_wrong_arm_fields(
+    tmp_path: Path, field: str, value: object, match: str
+) -> None:
+    rig = _rig()
+    rig["arms"]["left"][field] = value
+    with pytest.raises(ValueError, match=match):
+        load_rig(_write_json(tmp_path, rig))
+
+
+@pytest.mark.parametrize(
+    ("side", "base"),
+    [("left", [30, -20]), ("right", [-30, -20])],
+)
+def test_rig_loader_enforces_arm_x_convention(tmp_path: Path, side: str, base: list[int]) -> None:
+    rig = _rig()
+    rig["arms"][side]["base_xy_cm"] = base
+    with pytest.raises(ValueError, match="left base x < 0 < right base x"):
+        load_rig(_write_json(tmp_path, rig))
+
+
+def test_rig_loader_rejects_bad_bench_keys_and_size(tmp_path: Path) -> None:
+    rig = _rig()
+    rig["bench"]["typo"] = 1
+    with pytest.raises(ValueError, match="bench has unknown field 'typo'"):
+        load_rig(_write_json(tmp_path, rig))
+    rig = _rig()
+    del rig["bench"]["size_cm"]
+    with pytest.raises(ValueError, match="bench is missing required field 'size_cm'"):
+        load_rig(_write_json(tmp_path, rig))
+    rig = _rig()
+    rig["bench"]["size_cm"] = [120, 60, 1]
+    with pytest.raises(ValueError, match=r"bench\.size_cm must contain exactly 2 numbers"):
+        load_rig(_write_json(tmp_path, rig))
+
+
+def test_cli_writes_stdout(capsys: pytest.CaptureFixture[str]) -> None:
+    assert main([INSTANCE_ID, "--eval-seed", "5", "--epoch", "2"]) == 0
+    captured = capsys.readouterr()
+    assert (
+        json.loads(captured.out)["seed"]
+        == export_scene_layout(INSTANCE_ID, eval_seed=5, epoch=2)["seed"]
+    )
+    assert captured.err == ""
+
+
+def test_cli_writes_file(tmp_path: Path, capsys: pytest.CaptureFixture[str]) -> None:
+    output = tmp_path / "layout.json"
+    assert main([INSTANCE_ID, "-o", str(output)]) == 0
+    assert output.read_text(encoding="utf-8") == scene_layout_json(export_scene_layout(INSTANCE_ID))
+    assert capsys.readouterr().out == ""
+
+
+def test_cli_reports_unknown_instance(capsys: pytest.CaptureFixture[str]) -> None:
+    assert main(["seal_container/retired"]) == 2
+    captured = capsys.readouterr()
+    assert captured.out == ""
+    assert "unknown instance 'seal_container/retired'" in captured.err
diff --git a/uv.lock b/uv.lock
index c3bbd06..0b755f3 100644
--- a/uv.lock
+++ b/uv.lock
@@ -49,6 +49,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/66/40/c53deb2cd0c9b0fb636d24d9f40924cf2e65028e6b20b10cd5c1eeb2c730/ast_serialize-0.6.0-cp39-abi3-win_arm64.whl", hash = "sha256:ccd132fe8db56f61fe743b1f644d01b8d65b83248a8da506f3132bda86d6ed5e", size = 1072965, upload-time = "2026-06-30T20:02:54.097Z" },
 ]
 
+[[package]]
+name = "attrs"
+version = "26.1.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/9a/8e/82a0fe20a541c03148528be8cac2408564a6c9a0cc7e9171802bc1d26985/attrs-26.1.0.tar.gz", hash = "sha256:d03ceb89cb322a8fd706d4fb91940737b6642aa36998fe130a9bc96c985eff32", size = 952055, upload-time = "2026-03-19T14:22:25.026Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/64/b4/17d4b0b2a2dc85a6df63d1157e028ed19f90d4cd97c36717afef2bc2f395/attrs-26.1.0-py3-none-any.whl", hash = "sha256:c647aa4a12dfbad9333ca4e71fe62ddc36f4e63b2d260a37a8b83d2f043ac309", size = 67548, upload-time = "2026-03-19T14:22:23.645Z" },
+]
+
 [[package]]
 name = "babel"
 version = "2.18.0"
@@ -314,7 +323,7 @@ name = "exceptiongroup"
 version = "1.3.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "typing-extensions", marker = "python_full_version < '3.11'" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/50/79/66800aadf48771f6b62f7eb014e352e5d06856655206165d775e675a02c9/exceptiongroup-1.3.1.tar.gz", hash = "sha256:8b412432c6055b0b7d14c310000ae93352ed6754f70fa8f7c34141f91c4e3219", size = 30371, upload-time = "2025-11-21T23:01:54.787Z" }
 wheels = [
@@ -395,6 +404,34 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/62/a1/3d680cbfd5f4b8f15abc1d571870c5fc3e594bb582bc3b64ea099db13e56/jinja2-3.1.6-py3-none-any.whl", hash = "sha256:85ece4451f492d0c13c5dd7c13a64681a86afae63a5f347908daf103ce6d2f67", size = 134899, upload-time = "2025-03-05T20:05:00.369Z" },
 ]
 
+[[package]]
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