{
  "catalog_id": 1,
  "title": "Children retrieving a stray football · different NAVSIM junction",
  "source_template": "windblown",
  "summary": "On a distinct NAVSIM Boston street and four-way junction, three children play short football passes on the north sidewalk. A stray kick sends the ball into the ego lane beyond the junction. One child briefly retrieves it and returns immediately; all children and the ball are clear by 10 s. Off-road passes and moving footwork continue through the ending. Ego stops before the upstream approach line, resumes after two seconds of sustained clearance, and finishes in NORMAL driving. The unaffected lead car continues forward.",
  "focus_xy": [
    48.5,
    6.0
  ],
  "initial_review_time_s": 3.0,
  "ego_stop_x_m": 11.5,
  "ego_release_s": 12.0,
  "events": [
    {
      "time_s": -7,
      "label": "Football play starts off the road"
    },
    {
      "time_s": -3,
      "label": "Misdirected kick: ball rolls into the road; ego stops before the line"
    },
    {
      "time_s": 0,
      "label": "Child runs into the road only to fetch the stopped ball"
    },
    {
      "time_s": 3.0,
      "label": "Brief crouch and pickup; no roadway football play"
    },
    {
      "time_s": 4.6,
      "label": "Ball secured: immediate return toward the sidewalk"
    },
    {
      "time_s": 10.0,
      "label": "All 3 children and the ball are off the road"
    },
    {
      "time_s": 12.0,
      "label": "RESUME after two seconds of sustained clearance"
    },
    {
      "time_s": 12.8,
      "label": "Children resume off-road kicking and passing"
    },
    {
      "time_s": 15.0,
      "label": "NORMAL: ego drives through the clear route"
    },
    {
      "time_s": 24.8,
      "label": "Off-road passes and moving footwork continue"
    },
    {
      "time_s": 40,
      "label": "NORMAL ending: children are still actively playing off the road"
    }
  ],
  "actors": [
    {
      "id": "c001_retriever",
      "label": "Child retrieving the stray ball",
      "kind": "child",
      "role": "Off-road player who briefly retrieves the ball, then resumes passing",
      "color": "blue",
      "length_m": 0.42,
      "width_m": 0.4,
      "height_m": 1.45,
      "keys": [
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          "pose": "kick"
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        {
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        {
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      "attach_start_s": -7,
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      "attach_offset_xyz": [
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      "interaction": "Runs directly to the stopped ball, crouches and lifts it in one second, immediately turns and carries it back to the sidewalk, lowers it to the ground, then joins repeated off-road passes and moving footwork."
    },
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      "id": "c001_pass_partner",
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      "kind": "child",
      "role": "Remains off the roadway and resumes short passes with the retriever",
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      "length_m": 0.42,
      "width_m": 0.4,
      "height_m": 1.38,
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      "interaction": "Kicks and receives short passes entirely on the north sidewalk, repositions between passes, and returns to the ball contact point. Off-road football footwork includes stationary turns."
    },
    {
      "id": "c001_playmate_1",
      "label": "Off-road playmate 1",
      "kind": "child",
      "role": "Keeps playing and jogging on the sidewalk; does not play football in the roadway",
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      "width_m": 0.38,
      "height_m": 1.285,
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          "z": 0.0,
          "heading_deg": -2880,
          "pose": "run"
        },
        {
          "t": 33.0,
          "x": 44.45,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3060,
          "pose": "walk"
        },
        {
          "t": 34.4,
          "x": 43.8,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3060,
          "pose": "walk"
        },
        {
          "t": 34.7,
          "x": 43.8,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3240,
          "pose": "walk"
        },
        {
          "t": 35.7,
          "x": 44.45,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3240,
          "pose": "run"
        },
        {
          "t": 36.0,
          "x": 44.45,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3420,
          "pose": "walk"
        },
        {
          "t": 37.400000000000006,
          "x": 43.8,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3420,
          "pose": "walk"
        },
        {
          "t": 37.7,
          "x": 43.8,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3600,
          "pose": "walk"
        },
        {
          "t": 38.7,
          "x": 44.45,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3600,
          "pose": "run"
        },
        {
          "t": 39.0,
          "x": 44.45,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3780,
          "pose": "walk"
        },
        {
          "t": 40,
          "x": 43.98571428571429,
          "y": 9.15,
          "z": 0.0,
          "heading_deg": -3780.0,
          "pose": "walk"
        }
      ],
      "attach_to": "",
      "attach_start_s": -7,
      "attach_end_s": 40,
      "attach_offset_xyz": [
        0,
        0,
        0
      ],
      "interaction": "Repeated small jogging runs and turns within the mapped sidewalk, alongside the off-road passing game."
    },
    {
      "id": "c001_ball",
      "label": "Single football",
      "kind": "ball",
      "role": "Single persistent football: off-road pass, stray roll, retrieval, return and continued off-road passes",
      "color": "white",
      "length_m": 0.22,
      "width_m": 0.22,
      "height_m": 0.22,
      "keys": [
        {
          "t": -7,
          "x": 43.6,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": -6.7,
          "x": 43.6,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": -3.5,
          "x": 47.5,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -90,
          "pose": "stand"
        },
        {
          "t": -3,
          "x": 47.5,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -90,
          "pose": "stand"
        },
        {
          "t": 0,
          "x": 47.5,
          "y": 1.5,
          "z": 0.0,
          "heading_deg": -90,
          "pose": "stand"
        },
        {
          "t": 3.0,
          "x": 47.5,
          "y": 1.5,
          "z": 0.0,
          "heading_deg": -90,
          "pose": "stand"
        },
        {
          "t": 4.0,
          "x": 47.5,
          "y": 1.5,
          "z": 0.65,
          "heading_deg": -90,
          "pose": "carry"
        },
        {
          "t": 4.6,
          "x": 47.5,
          "y": 2.4,
          "z": 0.65,
          "heading_deg": -270,
          "pose": "carry"
        },
        {
          "t": 10.0,
          "x": 47.5,
          "y": 9.3,
          "z": 0.65,
          "heading_deg": -270,
          "pose": "carry"
        },
        {
          "t": 10.7,
          "x": 47.95,
          "y": 8.85,
          "z": 0.65,
          "heading_deg": -360,
          "pose": "carry"
        },
        {
          "t": 10.8,
          "x": 47.95,
          "y": 8.85,
          "z": 0.65,
          "heading_deg": -360,
          "pose": "carry"
        },
        {
          "t": 11.6,
          "x": 48.05,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 12.8,
          "x": 48.05,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 16.3,
          "x": 52.95,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 16.8,
          "x": 52.95,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 20.3,
          "x": 48.05,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 20.8,
          "x": 48.05,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 24.3,
          "x": 52.95,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 24.8,
          "x": 52.95,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 28.3,
          "x": 48.05,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 28.8,
          "x": 48.05,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 32.3,
          "x": 52.95,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 32.8,
          "x": 52.95,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 36.3,
          "x": 48.05,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 36.8,
          "x": 48.05,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360,
          "pose": "stand"
        },
        {
          "t": 40,
          "x": 52.53000000000001,
          "y": 8.85,
          "z": 0.0,
          "heading_deg": -360.0,
          "pose": "stand"
        }
      ],
      "attach_to": "c001_retriever",
      "attach_start_s": 4.0,
      "attach_end_s": 10.8,
      "attach_offset_xyz": [
        0.45,
        0,
        0.65
      ],
      "interaction": "No kicks occur in the road. The only road interaction is the lift and carry; after set-down, all repeated rolling passes stay on the sidewalk."
    }
  ],
  "acceptance_checks": [
    "Exactly 3 children and one persistent football throughout the 47 seconds.",
    "Children start playing off the road; the stray ball rolls into the road and the only road interaction is retrieval.",
    "Every kick happens off the roadway. Children who enter turn back immediately after the one-second pickup.",
    "All children and the ball have mapped sidewalk clearance from 10 seconds through the end.",
    "After returning, repeated football passes and child movement continue through the ending; no frozen post-clearance cast.",
    "Ego front bumper stops 1.1 m before the approximate line, remains outside the intersection, and resumes after two seconds of clearance.",
    "Unaffected lead car moves at 1.8 m/s throughout; related vehicles avoid all authored actors and context vehicles.",
    "Final meta-action is NORMAL and ego has passed the children.",
    "The NAVSIM anchor token, source log, map geometry and original camera photos differ from the first three rehearsals.",
    "Children avoid every background actor, including source pedestrians, throughout the full episode."
  ],
  "assumptions": [
    "NAVSIM source anchor 38da4e087bf4599f from log 2021.10.06.17.43.07_veh-28_00508_00877 supplies the new map, calibrated cameras and detection context. The football scenario is newly authored counterfactual motion.",
    "Three children play short passes entirely within the mapped north sidewalk; no dedicated football pitch is inferred.",
    "The approach line is a documented approximation upstream of mapped intersection 45225. Original NAVSIM photos remain unchanged.",
    "The source forward vehicle receives a newly authored downstream start and continuous 1.8 m/s path to act as an unaffected lead car. Conflicting background paths receive recorded holding positions before the episode.",
    "Ego brakes from 6 m/s, keeps a 1.1 m front-bumper gap before the line, confirms two seconds of clearance and accelerates to 3 m/s.",
    "Approval of predecessor revision 9 is historical; this different-map rehearsal requires its own human review."
  ],
  "ego_motion": {
    "start_x_m": -0.5,
    "approach_speed_mps": 6.0,
    "brake_mps2": 1.5,
    "brake_duration_s": 4.0,
    "restart_mps2": 1.0,
    "restart_duration_s": 3.0,
    "normal_speed_mps": 3.0
  },
  "stop_line": {
    "x_m": 15.0,
    "y_min_m": -1.9,
    "y_max_m": 1.9,
    "front_bumper_clearance_m": 1.1,
    "provenance": "Approximate rehearsal approach line at x=15 m, upstream of mapped NAVSIM intersection 45225 (western boundary x=16.115 m). No dedicated stop-line geometry was supplied.",
    "intersection_fid": 45225
  },
  "clearance_confirmed_s": 10.0,
  "meta_actions": [
    {
      "start_s": -7,
      "end_s": -3,
      "action": "DECELERATE",
      "reason": "The stray ball rolls toward the roadway; approach cautiously"
    },
    {
      "start_s": -3,
      "end_s": 12.0,
      "action": "STOP",
      "reason": "Wait before the approach line until the brief retrieval ends and two seconds of clearance are confirmed"
    },
    {
      "start_s": 12.0,
      "end_s": 15.0,
      "action": "RESUME",
      "reason": "All children and the ball are safely off the road"
    },
    {
      "start_s": 15.0,
      "end_s": 40,
      "action": "NORMAL",
      "reason": "Continue normally; the children keep playing off the road"
    }
  ],
  "background_motion_overrides": [
    {
      "id": "SRC_39cc589964a4545b",
      "label": "Unaffected lead vehicle",
      "path": [
        [
          -7,
          58.0,
          0.0,
          0.0
        ],
        [
          40,
          142.6,
          0.0,
          0.0
        ]
      ],
      "reason": "Counterfactual downstream start beyond the retrieval zone and continuous 1.8 m/s forward motion on the new NAVSIM street."
    }
  ],
  "review_revision": {
    "request": "One additional rehearsal with a different NAVSIM map",
    "approved_predecessor_revision": 9
  },
  "variant_id": "different-navsim-map",
  "child_count": 3,
  "variant_condition": "Three children; brief ego-lane retrieval beyond a different four-way junction",
  "description_zh": "另一段 NAVSIM 波士顿四岔路口：三名儿童在道路外踢球；球滚入道路，一名儿童短暂取回后立即返回，继续在道路外传球和跑动。",
  "map_condition": "Different NAVSIM map · Boston four-way junction",
  "lead_vehicle_id": "SRC_39cc589964a4545b",
  "check_child_context_clearance": true,
  "context_placement_overrides": [
    {
      "id": "SRC_894fc31aa3a75ebd",
      "pose": [
        63.0,
        9.0,
        0.0
      ],
      "reason": "Source pedestrian replay overlaps the children and off-road football. Use a separate mapped sidewalk holding position beyond the playing area."
    },
    {
      "id": "SRC_611b468107ff5ecb",
      "pose": [
        66.0,
        9.0,
        0.0
      ],
      "reason": "Source pedestrian replay overlaps the children and off-road football. Use a separate mapped sidewalk holding position beyond the playing area."
    }
  ]
}