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# Scenario Specification and Assertions

Every named scenario should be runnable locally and in CI from one declarative specification.

```yaml
id: SIM-PERSON-01
world: school_corridor_v1
seed: 1042
initial_pose: {x: 1.0, y: 2.0, yaw: 0.0}
mode: autonomous
goal: {x: 8.0, y: 2.0, yaw: 0.0}
events:
  - at: 4.0
    action: spawn_crossing_actor
    parameters: {speed: 1.0}
assertions:
  - type: minimum_clearance
    value_m: TBD
  - type: maximum_stop_latency
    value_s: TBD
  - type: final_state
    value: stopped_or_replanned
artifacts: [events, diagnostics, trajectory, metrics, rosbag]
```

`TBD` thresholds must be replaced by approved engineering requirements before a scenario becomes a release gate.

## Required assertions

* No collision and no entry into defined keep-out regions.
* Velocity and acceleration stay within the active mode limits.
* Stop, mode transition, and fault responses meet their time bounds.
* Minimum clearance and localization confidence remain within requirements.
* Expected explanations and diagnostics are emitted.
* The test ends in a known state and never resumes motion after restart.

## Result bundle

Store scenario and software versions, seed, pass/fail assertions, time-series metrics, event timeline, trajectory, selected screenshots, logs, and bag-file manifest. Retain failed-run artifacts long enough for diagnosis.


---

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