autonomy policy verify scenario

Mine an empirical scenario.yaml from recorded scene-state telemetry (#1312)

Synopsis

Aggregates the observed field values in the telemetry WAL's autonomy.scene_state
frames (per source) into a scenario.yaml input model: each numeric field becomes a
uniform [min,max] over its observed range, each categorical field a values set.
This grounds the input model in what the fleet actually observed — realistic
inputs WITHOUT a simulator.

Caveats (by construction): scene-state frames are a separate channel, not tied to
a specific tool decision, so you supply --action-kind. Params-driven inputs
(topic/payload) are NOT in the scene channel and are not mined — for those, and for
faithful full-action replay, see 'policy verify replay --from-wal' (#1313).

  autonomy policy verify scenario --from-wal ./wal --action-kind tool.ros2.topic.publish --source nvblox -o scenario.yaml

Usage

autonomy policy verify scenario --from-wal <wal-dir> --action-kind <kind> [--source <name>] [flags]

Options

      --action-kind string   action.kind the emitted scenario declares (required)
      --from-wal string      telemetry WAL directory to mine scene-state frames from (required)
      --iterations int       iterations to write into the scenario (0 = default)
      --name string          scenario name (default: wal-<source>)
  -o, --output string        write the scenario.yaml here (default: stdout)
      --seed int             seed to write into the scenario
      --source string        restrict to one scene source (required if the WAL spans multiple)

Options inherited from parent commands

      --require-signed-manifest   Refuse to start if the SHA256SUMS release manifest or its cosign signature is missing/invalid (Tier 2 binary-integrity check; default: build-time compile-in via -ldflags -X, build-hardened artifacts=true, all others=false)

See also