{
  "catalog_id": 24,
  "title": "Slow recycling cart with an obstructed forward view",
  "source_template": "wheelchair",
  "summary": "Counterfactual: A recycling collector slowly pushes a heavily loaded cart east through the ego corridor. The secured stack rises above the collector's eyes and obstructs the direct forward view. The collector eventually pauses without clearing the lane.",
  "focus_xy": [
    35,
    0.25
  ],
  "initial_review_time_s": 7,
  "ego_stop_x_m": 14,
  "ego_release_s": -1,
  "events": [
    {
      "time_s": -7,
      "label": "Collector rests behind the loaded cart while ego approaches"
    },
    {
      "time_s": -4,
      "label": "Collector begins pushing east with both hands on the handle"
    },
    {
      "time_s": 0,
      "label": "Slow cart occupies the ego corridor; ego is stopped"
    },
    {
      "time_s": 7,
      "label": "Peak review: stacked recycling screens the collector's forward sightline"
    },
    {
      "time_s": 21,
      "label": "Collector continues slowly without lateral clearance"
    },
    {
      "time_s": 35,
      "label": "Collector stops to rest while retaining the handle"
    },
    {
      "time_s": 40,
      "label": "Cart and collector remain in the corridor; no ego release"
    }
  ],
  "actors": [
    {
      "id": "c024_collector",
      "label": "Recycling collector",
      "kind": "human",
      "role": "Separate adult operator of the recycling cart",
      "color": "navy",
      "length_m": 0.5,
      "width_m": 0.52,
      "height_m": 1.72,
      "keys": [
        {
          "t": -7,
          "x": 24.37,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        },
        {
          "t": -4,
          "x": 24.37,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        },
        {
          "t": 0,
          "x": 26.77,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        },
        {
          "t": 7,
          "x": 30.97,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        },
        {
          "t": 14,
          "x": 35.17,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        },
        {
          "t": 21,
          "x": 39.37,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        },
        {
          "t": 28,
          "x": 43.57,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        },
        {
          "t": 35,
          "x": 47.77,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        },
        {
          "t": 40,
          "x": 47.77,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "push"
        }
      ],
      "attach_to": "",
      "attach_start_s": -7,
      "attach_end_s": 40,
      "attach_offset_xyz": [
        0,
        0,
        0
      ],
      "interaction": "Both hands reach approximately 0.48 m forward to the cart handle, which is 0.95 m behind the cart root and 1.0 m above its support surface. The operator remains 1.43 m behind the cart root. During stationary intervals the pushing pose represents resting hands on the handle."
    },
    {
      "id": "c024_cart",
      "label": "Loaded recycling cart",
      "kind": "cart",
      "role": "Human-powered cart; no operator is included in this actor",
      "color": "charcoal",
      "length_m": 1.9,
      "width_m": 1.1,
      "height_m": 1.05,
      "keys": [
        {
          "t": -7,
          "x": 25.8,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": -4,
          "x": 25.8,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 0,
          "x": 28.2,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 7,
          "x": 32.4,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 14,
          "x": 36.6,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 21,
          "x": 40.8,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 28,
          "x": 45,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 35,
          "x": 49.2,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 40,
          "x": 49.2,
          "y": 0.25,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        }
      ],
      "attach_to": "",
      "attach_start_s": -7,
      "attach_end_s": 40,
      "attach_offset_xyz": [
        0,
        0,
        0
      ],
      "interaction": "The cart rolls approximately 0.6 m/s east between its initial and final rests. Its deck is 0.45 m above the mapped surface. The rear handle meets the collector's hands; the cart does not turn, spill cargo, or leave the ego corridor."
    },
    {
      "id": "c024_load1",
      "label": "Lower cardboard recycling bundle",
      "kind": "box",
      "role": "Broad, secured lower layer of the recycling stack",
      "color": "brown",
      "length_m": 1.25,
      "width_m": 1.02,
      "height_m": 0.6,
      "keys": [
        {
          "t": -7,
          "x": 25.8,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": -4,
          "x": 25.8,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 0,
          "x": 28.2,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 7,
          "x": 32.4,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 14,
          "x": 36.6,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 21,
          "x": 40.8,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 28,
          "x": 45,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 35,
          "x": 49.2,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 40,
          "x": 49.2,
          "y": 0.25,
          "z": 0.45,
          "heading_deg": 0,
          "pose": "stand"
        }
      ],
      "attach_to": "c024_cart",
      "attach_start_s": -7,
      "attach_end_s": 40,
      "attach_offset_xyz": [
        0,
        0,
        0.45
      ],
      "interaction": "Rests directly on the cart deck and supports the middle bundle. Packaging bindings are integral to this bundle."
    },
    {
      "id": "c024_load2",
      "label": "Middle paper recycling bundle",
      "kind": "box",
      "role": "Secured middle layer directly across the collector's eye-level sightline",
      "color": "beige",
      "length_m": 1.15,
      "width_m": 0.98,
      "height_m": 0.65,
      "keys": [
        {
          "t": -7,
          "x": 25.8,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": -4,
          "x": 25.8,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 0,
          "x": 28.2,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 7,
          "x": 32.4,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 14,
          "x": 36.6,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 21,
          "x": 40.8,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 28,
          "x": 45,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 35,
          "x": 49.2,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 40,
          "x": 49.2,
          "y": 0.25,
          "z": 1.05,
          "heading_deg": 0,
          "pose": "stand"
        }
      ],
      "attach_to": "c024_cart",
      "attach_start_s": -7,
      "attach_end_s": 40,
      "attach_offset_xyz": [
        0,
        0,
        1.05
      ],
      "interaction": "Its bottom meets the lower bundle's top at 1.05 m; its top supports the upper sack at 1.70 m. It remains centered and does not intersect either adjacent layer."
    },
    {
      "id": "c024_load3",
      "label": "Upper lightweight recycling sack",
      "kind": "sack",
      "role": "Secured upper layer making the stack taller than the collector",
      "color": "white",
      "length_m": 1.05,
      "width_m": 0.92,
      "height_m": 0.55,
      "keys": [
        {
          "t": -7,
          "x": 25.8,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": -4,
          "x": 25.8,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 0,
          "x": 28.2,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 7,
          "x": 32.4,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 14,
          "x": 36.6,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 21,
          "x": 40.8,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 28,
          "x": 45,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 35,
          "x": 49.2,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 40,
          "x": 49.2,
          "y": 0.25,
          "z": 1.7,
          "heading_deg": 0,
          "pose": "stand"
        }
      ],
      "attach_to": "c024_cart",
      "attach_start_s": -7,
      "attach_end_s": 40,
      "attach_offset_xyz": [
        0,
        0,
        1.7
      ],
      "interaction": "A lightweight, flat-bottomed sack sits on the middle bundle. The complete stack reaches 2.25 m above the cart's ground support and stays secured throughout."
    }
  ],
  "acceptance_checks": [
    "Exactly five critical actors persist: one collector, one operator-free cart, and three separately identified recycling bundles.",
    "Sample the complete interval from -7 through 40 seconds at 20 Hz, including both endpoints; all tracks remain finite and non-looping.",
    "Verify cart and collector footprints remain on the wheelchair road polygon, with wheel and standing-human support offsets equal to zero.",
    "Verify hand-to-handle contact throughout pushing and resting, with no torso penetration into the cart.",
    "Verify the three load layers touch their supports without overlap, remain attached, and obstruct the collector's direct forward eye-level view.",
    "Maintain slow walking motion near 0.6 m/s, with smooth acceleration and deceleration at the two rests.",
    "The cart footprint intersects the buffered ego corridor throughout; ego must remain at x=14 through time 40.",
    "Require human approval of the full rehearsal, especially time 7, before image generation. Later Image 2.5 must edit original Image #1, using this rehearsal only for placement and posture."
  ],
  "assumptions": [
    "Observed evidence is limited to the supplied NAVSIM geometry and Image #1's roadway, curbs, sidewalks, trees, and frontage. The collector, cart, load, and all actions are counterfactual proposals.",
    "The selected work area uses the wheelchair road, approximately y=-4.5 to y=5.2 around x=25..50; adjacent mapped sidewalks are not used as an invented cart exit.",
    "The load consists of lightweight secured recycling bundles. The proposal concerns blocked visibility and slow progress, not a cargo spill.",
    "The built-in ego is not an additional cast actor. It starts at x=0, y=0 at time -7 with speed 5.6 m/s and brakes at 1.12 m/s squared to stop centered at x=14 at time -2. Its buffered corridor is |y|<=1.25.",
    "Use shape-preserving, speed-bounded interpolation at 0.05-second intervals. Brief start and stop ramps are exceptions to the moving walking-speed minimum. All z values are support offsets over the supplied ground plane.",
    "No image has been generated or human review completed; the review gate remains mandatory."
  ]
}