{
  "catalog_id": 26,
  "title": "Tricycle courier parks and runs north with a parcel",
  "source_template": "cargo",
  "summary": "Counterfactual: A courier drives an electric cargo tricycle east along the road's right side, parks, steps off, and takes a parcel from its open cargo shelf. Holding the parcel ahead of the torso, the courier runs north across the road and finishes on the mapped north sidewalk. The tricycle remains parked.",
  "focus_xy": [
    34.4,
    0
  ],
  "initial_review_time_s": 5.4,
  "ego_stop_x_m": 14,
  "ego_release_s": 13,
  "events": [
    {
      "time_s": -7,
      "label": "Courier approaches eastbound on the right side aboard the tricycle"
    },
    {
      "time_s": -1,
      "label": "Tricycle finishes braking beside the right curb; ego is already stopped"
    },
    {
      "time_s": 3,
      "label": "Courier takes the parcel from the cargo shelf"
    },
    {
      "time_s": 4.5,
      "label": "Courier finishes turning north and starts running with the parcel"
    },
    {
      "time_s": 5.4,
      "label": "Peak conflict: courier and parcel traverse the ego corridor"
    },
    {
      "time_s": 11.5,
      "label": "Courier reaches the mapped north sidewalk"
    },
    {
      "time_s": 13,
      "label": "Courier and parcel are fully clear; ego may resume"
    },
    {
      "time_s": 40,
      "label": "Courier remains on the north sidewalk with the parcel; tricycle remains parked"
    }
  ],
  "actors": [
    {
      "id": "c026_tri",
      "label": "Electric delivery tricycle",
      "kind": "tricycle",
      "role": "Electric cargo tricycle with a separately identified operator",
      "color": "blue",
      "length_m": 2.8,
      "width_m": 1.3,
      "height_m": 1.25,
      "keys": [
        {
          "t": -7,
          "x": 25,
          "y": -3.05,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": -3,
          "x": 33,
          "y": -3.05,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": -1,
          "x": 35,
          "y": -3.05,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 3,
          "x": 35,
          "y": -3.05,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 4.5,
          "x": 35,
          "y": -3.05,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 13,
          "x": 35,
          "y": -3.05,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        },
        {
          "t": 40,
          "x": 35,
          "y": -3.05,
          "z": 0,
          "heading_deg": 0,
          "pose": "stand"
        }
      ],
      "attach_to": "",
      "attach_start_s": -7,
      "attach_end_s": 40,
      "attach_offset_xyz": [
        0,
        0,
        0
      ],
      "interaction": "Travels east at approximately 2 m/s before smoothly braking. The operator sits forward of the cargo shelf. The open shelf supports the parcel approximately 0.853 m above the vehicle root and has no raised north-side rail across the unloading path."
    },
    {
      "id": "c026_courier",
      "label": "Parcel courier and tricycle operator",
      "kind": "human",
      "role": "The sole operator, who dismounts, retrieves the parcel, and runs north",
      "color": "orange",
      "length_m": 0.44,
      "width_m": 0.5,
      "height_m": 1.74,
      "keys": [
        {
          "t": -7,
          "x": 25.65,
          "y": -3.05,
          "z": 0.5593,
          "heading_deg": 0,
          "pose": "handlebar"
        },
        {
          "t": -3,
          "x": 33.65,
          "y": -3.05,
          "z": 0.5593,
          "heading_deg": 0,
          "pose": "handlebar"
        },
        {
          "t": -1,
          "x": 35.65,
          "y": -3.05,
          "z": 0.5593,
          "heading_deg": 0,
          "pose": "handlebar"
        },
        {
          "t": 0.5,
          "x": 35.65,
          "y": -2.07,
          "z": 0,
          "heading_deg": 90,
          "pose": "walk"
        },
        {
          "t": 2,
          "x": 34.4,
          "y": -2.07,
          "z": 0,
          "heading_deg": 180,
          "pose": "walk"
        },
        {
          "t": 3,
          "x": 34.4,
          "y": -2.07,
          "z": 0,
          "heading_deg": 270,
          "pose": "reach"
        },
        {
          "t": 4.5,
          "x": 34.4,
          "y": -2.07,
          "z": 0,
          "heading_deg": 450,
          "pose": "run"
        },
        {
          "t": 11.5,
          "x": 34.4,
          "y": 14.1,
          "z": 0,
          "heading_deg": 450,
          "pose": "run"
        },
        {
          "t": 13,
          "x": 34.4,
          "y": 15.5,
          "z": 0,
          "heading_deg": 450,
          "pose": "carry"
        },
        {
          "t": 40,
          "x": 34.4,
          "y": 15.5,
          "z": 0,
          "heading_deg": 450,
          "pose": "carry"
        }
      ],
      "attach_to": "c026_tri",
      "attach_start_s": -7,
      "attach_end_s": -1,
      "attach_offset_xyz": [
        0.65,
        0,
        0.55
      ],
      "interaction": "While mounted, the courier's hands meet handlebars near vehicle-local forward 1.1 m and height 1.05 m. After stopping, the courier steps sideways north off the footboard, walks around the exposed side to the rear shelf, and turns in place to retrieve the parcel. The subsequent stationary half-turn sweeps the held parcel around the courier's own body. During the run, both hands retain a forward carrying grip."
    },
    {
      "id": "c026_parcel",
      "label": "Single delivery parcel",
      "kind": "box",
      "role": "Persistent parcel carried from the tricycle to the north sidewalk",
      "color": "brown",
      "length_m": 0.42,
      "width_m": 0.45,
      "height_m": 0.38,
      "keys": [
        {
          "t": -7,
          "x": 24.4,
          "y": -2.62,
          "z": 0.8469,
          "heading_deg": 270,
          "pose": "stand"
        },
        {
          "t": -3,
          "x": 32.4,
          "y": -2.62,
          "z": 0.8469,
          "heading_deg": 270,
          "pose": "stand"
        },
        {
          "t": -1,
          "x": 34.4,
          "y": -2.62,
          "z": 0.8469,
          "heading_deg": 270,
          "pose": "stand"
        },
        {
          "t": 3,
          "x": 34.4,
          "y": -2.62,
          "z": 0.8469,
          "heading_deg": 270,
          "pose": "carry"
        },
        {
          "t": 4.5,
          "x": 34.4,
          "y": -1.52,
          "z": 0.8531,
          "heading_deg": 450,
          "pose": "carry"
        },
        {
          "t": 11.5,
          "x": 34.4,
          "y": 14.65,
          "z": 0.8531,
          "heading_deg": 450,
          "pose": "carry"
        },
        {
          "t": 13,
          "x": 34.4,
          "y": 16.05,
          "z": 0.8531,
          "heading_deg": 450,
          "pose": "carry"
        },
        {
          "t": 40,
          "x": 34.4,
          "y": 16.05,
          "z": 0.8531,
          "heading_deg": 450,
          "pose": "carry"
        }
      ],
      "attach_to": "c026_courier",
      "attach_start_s": 3,
      "attach_end_s": 40,
      "attach_offset_xyz": [
        0.55,
        0,
        0.85
      ],
      "interaction": "Before time 3, its own keys keep it on the moving tricycle shelf at local horizontal offset [-0.6,0.43]. At time 3 its world position and orientation match the courier's grip without snapping. Both hands grip the 0.45 m-wide sides. The box follows the courier's stationary turn and northbound run, and remains held at the final state."
    }
  ],
  "acceptance_checks": [
    "Exactly three critical actors persist: one operator-free tricycle, one separately identified courier, and one parcel. Do not add an implicit second rider.",
    "Verify the full -7..40-second rehearsal at 20 Hz, including driving, braking, dismounting, retrieval, turning, running, sidewalk arrival, and final hold.",
    "Verify the parked tricycle footprint, x=33.6..36.4 and y=-3.7..-2.4, stays inside the cargo road polygon and outside the buffered ego corridor.",
    "Verify the courier's dismount clears the chassis, the rearward approach avoids body penetration, and stationary turns are explicit rather than heading flips.",
    "At attachment boundaries -1 and 3, require position continuity within 0.01 m after applying the supplied ground plane. The parcel must not rotate or drift independently while resting on the shelf.",
    "Verify the parcel sweeps with the courier during the half-turn, stays in front of the torso during running, and does not intersect the tricycle or the courier's body.",
    "Maintain approximately 2.3 m/s northbound running, bounded by 2..4 m/s except acceleration and stopping transitions; ordinary walking stays within 0.6..1.7 m/s.",
    "Verify the courier and complete parcel footprint are on the north sidewalk before time 13. Permit ego release only then, with no remaining object in its corridor.",
    "Require human approval of the full rehearsal, the pickup at time 3, and the conflict at time 5.4 before image generation. Later Image 2.5 must edit original Image #3."
  ],
  "assumptions": [
    "The cargo NAVSIM map and Image #3 provide the roadway, curb, sidewalk, and coarse frontage evidence. The tricycle, courier, parcel, destination, and timing are counterfactual proposals.",
    "At x approximately 34.4, the north roadway edge is near y=13.0 and the mapped sidewalk extends to approximately y=16.7. The final courier and parcel positions lie within that sidewalk, not an invented doorway.",
    "One modest parcel represents the unspecified shipment. The courier pauses with it on the destination-side sidewalk; a recipient and completed handover are not invented.",
    "Before pickup, the parcel follows synchronized shelf keys rather than a second attachment parent. From time 3 onward it is attached only to the courier.",
    "Attachment coordinates include small ground-plane corrections: seated-human z=0.5593 and parcel z near 0.85 are support offsets, not absolute elevations. Attachment transforms govern between rounded check keys.",
    "Use 0.05-second sampling, smooth bounded-speed interpolation, and path tangents consistent with unwrapped headings. The dismount is an explicit sideways step; the retrieval and half-turn occur while stationary.",
    "The built-in ego starts at x=0, y=0 at time -7 with speed 5.6 m/s and stops at x=14 at time -2. Its buffered corridor is |y|<=1.25. After release at time 13 it may accelerate gently to 1.5 m/s along y=0.",
    "No human review or image generation has yet occurred."
  ]
}