{
  "incident_id": "bbx_inc_2026_05_14_214218_dock17",
  "time_basis": "event_time_zero_at_near_miss_trigger",
  "events": [
    {
      "time_offset_ms": -30000,
      "actor": "environment",
      "event_type": "site_change",
      "label": "Route deviation begins",
      "summary": "Temporary pallet appears outside the site's canonical map.",
      "source_refs": ["front_rgb", "depth_cloud"],
      "confidence": 0.88
    },
    {
      "time_offset_ms": -18000,
      "actor": "model",
      "event_type": "perception_confidence_decay",
      "label": "Vision confidence decay",
      "summary": "Object boundary confidence falls from 0.84 to 0.41 across four frames.",
      "source_refs": ["front_rgb", "depth_cloud", "planner_trace"],
      "confidence": 0.77
    },
    {
      "time_offset_ms": -11000,
      "actor": "planner",
      "event_type": "route_decision",
      "label": "Merge command issued",
      "summary": "Local planner accepts a low-speed merge with 0.62m projected clearance.",
      "source_refs": ["planner_trace", "cmd_vel"],
      "confidence": 0.81
    },
    {
      "time_offset_ms": -6000,
      "actor": "environment",
      "event_type": "human_track",
      "label": "Worker enters aisle",
      "summary": "Human track appears at 1.9m with lateral motion toward robot path.",
      "source_refs": ["front_rgb", "depth_cloud"],
      "confidence": 0.86
    },
    {
      "time_offset_ms": -2200,
      "actor": "operator",
      "event_type": "teleop_pause",
      "label": "Operator takeover",
      "summary": "Teleop pause command arrives before the robot crosses the warning zone.",
      "source_refs": ["operator_input", "cmd_vel"],
      "confidence": 0.96
    },
    {
      "time_offset_ms": 0,
      "actor": "safety",
      "event_type": "packet_sealed",
      "label": "Safety stop sealed",
      "summary": "Brake event, sensor bundle, and command buffer are hashed into the evidence packet.",
      "source_refs": ["safety_events", "cmd_vel", "packet.json"],
      "confidence": 1
    }
  ]
}