サービスロボット導入シミュレーション Log#10 | ロボットなしなら、Unity と試算は合った

調べ終わりました。Check in も Undo も実行していません。 以下が仕分けです。

  ---
  置き場所と今の状態

  /Users/shimazueiichi/Robotics_UX/Robotics_UX_New
  cs:135@Robotics_UX_New@studio_unity148@unity (head)   ←
  作業コピーは固定版そのもの

1〜3 まで完了しました。

  1. D ― .git を管理の外へ ✅

  ignore.conf に2行追記しました（末尾）:
  .git
  /Assets/ServiceSim/Store/old~
  → これだけで Private 13件のうち11件（.git/objects 6件・old~

新しい固定版は cs:137 です。（1件も保留なし。Mat_MonitorBoard は Private
  のまま）

  1. 条件のファイル

  Assets/ServiceSim/Experiment/serving-robot-params.json   v2.4 → v2.7
  meta.layout_generation  82023936eb99  ← 店の形の JSON
  と一致（写し直していません）

新しい固定版は cs:140 です。（保留は Mat_MonitorBoard の Private 2件だけ）

  1. 回すもの ― ServiceSim / Stage B /

  ┌────────────────────────────┬───────────────────────────────┐
  │          メニュー          │           すること            │
  ├────────────────────────────┼───────────────────────────────┤
  │ Run All（18回）            │ 条件6つ × 種 0・1・2          │

diff --git a/tools/sim_layouts/famires_gen2.py b/tools/sim_layouts/famires_gen2.py
index 93b5b2f..a7dba5a 100644
--- a/tools/sim_layouts/famires_gen2.py
+++ b/tools/sim_layouts/famires_gen2.py
@@ -172,7 +172,8 @@ def p1_efficient_corner():
     rooms += [toilet]
     walls += twalls
     rooms += [dict(label="待合", rect=[0.0, 0.9, 0.5, 3.3], kind="guest"),

diff --git a/tools/sim_layouts/famires_v3.py b/tools/sim_layouts/famires_v3.py
index 816f6de..89e8738 100644
--- a/tools/sim_layouts/famires_v3.py
+++ b/tools/sim_layouts/famires_v3.py
@@ -15,6 +15,10 @@ codex の2回目の検証（review_result_v3.md）を受けて直したこと（
 - 2人席：止まってよいのは、椅子の側とテーブルの横（ベンチの横は使わない）
 - 待機場所：1台分が0.8×0.8m以上か、台数が正しいかを確かめる。1台ずつ、ほかの台が止まったままで受け渡し口の前まで出られるかを確かめる
 

diff --git a/tools/sim_layouts/README.md b/tools/sim_layouts/README.md
index 82d97a8..23fed62 100644
--- a/tools/sim_layouts/README.md
+++ b/tools/sim_layouts/README.md
@@ -24,7 +24,7 @@
 `unity_export.py` が、店の形と解析から決まった規則で作る（規則はファイルの先頭に書いた）。`famires_v3.py` を回すと一緒に出る。Unity はこれを読んで店を建て、店の形を自分で作らない。試算（haizen_sim.py）はこれを使わない。
 
 - 卓の数・止まる位置・卓までの距離は analysis と同じ（テストで確かめる）。版の番号（generation）も同じ

diff --git a/public/sim/serving-robot-params.json b/public/sim/serving-robot-params.json
index 68e97d3..c5b4e6f 100644
--- a/public/sim/serving-robot-params.json
+++ b/public/sim/serving-robot-params.json
@@ -4,7 +4,7 @@
   "model": "v2.4",
   "reps": 40,
   "ng_min": 10,

"""ファミレスの店の形 第3版：決まりの確かめ方とロボットの届き方を作り直した版。

codex の敵対的検証（review_result.md）を受けて直したこと
- ロボットの通れる幅は機種の公表値（初期値 BellaBot 80cm）。本体の幅とは別に扱う
- 「ふだん走らせる幅」（初期値 1.0m）を別に持ち、卓を3つに分ける
    ロボットが届く卓／狭い道なら届く卓／人が運ぶ卓（ロボットから受け取って人が運ぶ）
- 届くかは、卓の「座る側（開いた側）」の前で止まれるかで判定する。背中側・壁側・仕切り越しは数えない
- 幅の判定は、マス目の中心から障害物までの距離で行い、2つの細かさで同じ結果になるかを毎回確かめる

"""ファミレスの店の形 第2版：席を「列」で置く。

決まり（2026-10-21 エイイチと決めたこと）
- 基本は4人掛けの背中合わせのソファの列（島）。壁ぞいはソファの片側の列
- 狭い所は2人席で埋める
- 家族・団体用に6人のブース（L字ソファ・6人ボックス）を入れる
- 店の色は2つ
    効率重視型：仕切り壁なし・通路は狭め（1.2m）・2人席多め

"""Unity が店を建てるための細かい形を、店の形（layout）と解析（analysis）から決まった規則で作る。

2026-10-22 エイイチと決めた「何について正か」による（README）。Unity は店の形を自分で作らず、ここで書き出したものを読む。
サイトの試算（haizen_sim.py）はこれを使わない。数字（卓の数・卓までの距離・止まる位置）は analysis と同じものをそのまま渡す。

書き出すもの（public/sim/layouts/unity/{名前}.json）
- outer_walls：外壁（入口を空けた矩形の並び。外形の外側に壁の厚みぶん）
- floor：床を敷く矩形（建物の外を除く）

"""famires_v3 の確かめ（codex の反例を含む）。使い方: python3 test_famires_v3.py"""
import copy
import famires_v3 as v
import famires_gen2 as gen

ok = True

# ファミレスの店の形（サービスロボット導入シミュレーション・配膳ロボットの試算用）

このフォルダの店の形が、サイトの試算と Unity の共通の元になる。Unity は `public/sim/layouts/` の JSON を読んで店を建てる。直すときは、ここ（サイト側）を先に直す。

## 何について正か（2026-10-22 エイイチと決めた）

| 何について | 正 | 扱い |
|---|---|---|

diff --git a/public/sim/serving-robot-params.json b/public/sim/serving-robot-params.json
index c5b4e6f..1a36bb0 100644
--- a/public/sim/serving-robot-params.json
+++ b/public/sim/serving-robot-params.json
@@ -1,7 +1,7 @@
 {
  "meta": {
   "schema_version": "serving-robot-params/0.1",

"""試算の結果（results.json）から、公開用の試算ページ（serving-robot.html）を作る（v2.6）。

使い方: python3 build_page_v26.py results.json page_v26.template.html <出力先>
  v2.6：試算のモデルは v2.4 のまま。店の形を直した版に入れ替え（③⑥⑦のレジの向き・会計の列・⑦の細い通路0.95m）、⑦だけ回し直した。
  公開中のページには、後から手で足した「費用の欄」があるので、ページ全体を置き換えず、
  作ったページの「const D = …;」の1行と見出しの版だけを公開中のページに入れる（--into 公開中のページ）。
  v2.5：試算のモデルは v2.4 のまま、店の形（layouts/）を直した版に入れ替え、② 定番の郊外型だけ回し直した。
  店の形の版（generation）がそろっているか、試算に使った卓までの距離が店の形の距離と同じかを確かめてから作る。

--- /tmp/claude-0/-home-claude/2afc91f9-ca44-5f2d-a1f2-8ded1ee7eedd/scratchpad/v2_6/haizen_sim.py	2026-10-23 18:12:52.750476718 +0900
+++ /tmp/claude-0/-home-claude/2afc91f9-ca44-5f2d-a1f2-8ded1ee7eedd/scratchpad/v2_7/haizen_sim.py	2026-10-23 20:26:49.112509336 +0900
@@ -94,7 +94,8 @@
     "warmup_min": 60,         # 回るかの確かめで、数えない慣らしの時間（分）
     "util_sample_s": 10,      # 手がふさがっている人数・台数を数える間隔（秒）
     "max_extra_min": 600,     # 数える時間のあと、追いかけるのを打ち切る上限（分）。店が回らない条件の保険
-    "model": "v2.4",          # モデルの版（前の版の結果を使い回さないための印）
+    "robot_first_wait_s": 120,  # v2.7 ロボット優先：料理はロボットを待つ。これだけ待っても来なければスタッフが運ぶ（秒）

"""
サービスロボット導入シミュレーション #1 配膳ロボット（試作 v2.4）

v2.4 で直したこと（2026-10-22。動画の台本を codex で検証したときに見つかった2点。直し方はエイイチと決めた）
  1. 入店待ちの終わりを「案内されて卓に着いたとき」にした。v2.3 までは、案内したスタッフが説明（guide_s）を
     終えて受け渡し口まで戻るときまで数えていた。説明の時間と戻りの時間は、スタッフの手がふさがる時間には
     これまでどおり入れ、お客さんの流れ（注文を待つ）もこれまでどおりスタッフが戻ってから進める。
  2. 「下げ膳にも使う」（bus）で、ロボットがスタッフより先に卓へ行き、皿を載せる前に帰っていたのを直した。

"""試算の結果（results.json）から、公開用の試算ページ（serving-robot.html）を作る（v2.7）。

使い方: python3 build_page_v27.py results.json page_v27.template.html <出力先> --into <公開中の serving-robot.html>
  v2.7：料理をロボット優先にした（2分待ってもロボットが来なければスタッフが運ぶ）。全条件を回し直した。
  --into のとき、const D の1行と見出しの版に加えて、前提の一覧の「配膳の分担」の1行も入れ替える。
  v2.6：試算のモデルは v2.4 のまま。店の形を直した版に入れ替え（③⑥⑦のレジの向き・会計の列・⑦の細い通路0.95m）、⑦だけ回し直した。
  公開中のページには、後から手で足した「費用の欄」があるので、ページ全体を置き換えず、
  作ったページの「const D = …;」の1行と見出しの版だけを公開中のページに入れる（--into 公開中のページ）。

using System.Collections.Generic;
using UnityEditor;
using UnityEngine;

namespace ServiceSim.EditorTools
{
    /// <summary>
    /// 人とロボットが「いま何をしているか」を、頭の上に1行で出す（Scene ビューだけ）。

using System;
using System.Collections.Generic;
using System.Globalization;
using System.IO;
using System.Text;
using UnityEngine;

namespace ServiceSim.EditorTools

using System.Reflection;
using UnityEditor;
using UnityEngine;

namespace ServiceSim.EditorTools
{
    /// <summary>
    /// 真上の画面の隅に出す「色の意味」の凡例（見た目だけ）。

using System;
using System.Collections.Generic;
using System.Globalization;
using System.IO;
using System.Text;
using UnityEditor;
using UnityEditor.SceneManagement;
using UnityEngine;

using System;
using System.Collections.Generic;
using System.IO;
using UnityEditor;
using UnityEditor.SceneManagement;
using UnityEngine;
using UnityEngine.AI;
using UnityEngine.SceneManagement;

using System;
using System.Collections.Generic;
using System.IO;
using UnityEditor;
using UnityEditor.SceneManagement;
using UnityEngine;
using UnityEngine.SceneManagement;

using System;
using System.Collections.Generic;
using System.Globalization;
using System.IO;
using System.Text;
using UnityEditor;
using UnityEditor.SceneManagement;
using UnityEngine;

using System.Collections.Generic;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// 回す条件と、書き出す場所。実験に関する数字と場所はすべてこの .asset に置く。
    /// 条件を順に回すのは ExperimentRunner（段階2で作る）。

using System.Collections.Generic;
using System.IO;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// 条件を回して記録する。1回の Play の中で、条件を順に通せる（段階3の Run All）。

using System.Collections.Generic;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// サイトの試算の値（SimParams）を、その回だけ ServiceSpec / PeopleSpec / RobotSpec に入れる。
    ///

using System;
using System.Collections.Generic;
using System.Globalization;
using System.IO;
using System.Text;
using UnityEngine;

namespace ServiceSim

# ServiceSim 表示のルール

## 対象
Scene ビューに出す文字、store_report、Console。
CSV に書く値の言葉は対象外（過去の記録と比べられなくなるため。変えるときは対応表を作ってから別に行う）。

## 場所の名前
- 動かないものにだけ付ける：入口・風除室・待合・レジ・レジの内側・厨房・受け渡し口・返却口・パントリー・ドリンクバー・トイレ

using UnityEngine;
using UnityEngine.AI;

namespace ServiceSim
{
    /// <summary>混み具合の3段階</summary>
    public enum CrowdLevel
    {

using System.Collections.Generic;
using UnityEngine;
using UnityEngine.AI;

namespace ServiceSim
{
    /// <summary>
    /// 人がロボットをよける。スタッフと歩く客に付ける。

using System.Collections.Generic;
using UnityEngine;
using UnityEngine.AI;

namespace ServiceSim
{
    /// <summary>
    /// スタッフ1人。確率で仕事を選ぶのではなく、そのときに起きている仕事を

using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// 配膳ロボットの数字。ロボットに関する数字はすべてこの .asset に置く。
    /// </summary>
    [CreateAssetMenu(menuName = "ServiceSim/Robot Spec", fileName = "RobotSpec")]

using System;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.AI;

namespace ServiceSim
{
    /// <summary>

using System.Collections.Generic;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// 譲る側が「相手の道から横へどく」ための形の計算（2026-10-23 エイイチと決めた）。
    ///

using System.Collections.Generic;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>料理1皿</summary>
    public class DishOrder
    {

using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// 店の回し方の数字。試算（haizen_sim.py の COMMON と STORES["family"]）と同じ値にそろえる。
    /// 店の運営に関する数字はすべてこの .asset に置く。
    ///

using System.Collections.Generic;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// 床の塗り分け（見た目だけ。2026-10-23 に決め直した）。
    ///

using System;
using System.Collections.Generic;
using System.Globalization;
using System.Text;
using UnityEngine;

namespace ServiceSim
{

using System.Collections.Generic;
using System.Text;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// キッチンのモニター（2026-10-23 エイイチと決めた。設計書 v0 の 0 章）。

using System.Collections.Generic;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// ロボットの道順（v5b）。サイトが決めた曲がり角の点の並びを持つ。
    ///

using System;
using System.Collections.Generic;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>
    /// StoreLayout が作った部品の一覧（StorePlan）を見て、床・壁・卓・椅子・ベンチ・

using System.Collections.Generic;
using UnityEngine;

namespace ServiceSim
{
    /// <summary>席の種類</summary>
    public enum SeatKind
    {

# 配膳ロボット：通路で何が起きるかを Unity で測る（設計 v0）

作成：2026-10-20
対象：サービスロボット導入シミュレーション（配膳ロボット）
実装：Claude Code（Unity）／設計・結果の読み込み・試算への反映：Claude

## 0. 何について正か（2026-10-22 エイイチと決めた）

timestamp,run_folder,status,unity_cs,layout_generation,params_model,store,staff,robots,arrivals_per_h,mode,trays,fragile_by,seed,staff_first_yield,yield_order_enabled,one_robot_per_aisle,robot_first_wait_s,everyone_left,total_minutes,wall_seconds,entry_wait_mean,staff_wait_mean,dish_wait_mean,cold_share,robot_share,staff_util,robot_util,walk_km_per_staff,site_entry_wait_mean,site_staff_wait_mean,site_dish_wait_mean,site_robot_share,robot_speed_mps,pause_rate,pause_s_mean,stuck_rate,trips,timeouts,stuck_count,stop_s_total,corner_stop_time_share,gave_up,warped,table_freed,rescues,late_staff_dishes,staff_yield_share_of_staff_time,ledger_schema_version
2026-10-24T00:03:37,20261023_stageB_fam_p1_r2_s0,completed,cs:140,82023936eb99,v2.7,fam_p1,4,2,42,serve,3,any,0,1,1,1,120,1,179.5543,787.0753,2.892,1.6328,4.2197,0.5507,0.7053,0.8095,0.7073,2.5281,0.8336,0.559,1.0102,0.9914,0.5734,,5.1598,,99,7,55,5118.954,0.2212,100,59,35,55,61,0.0616,1
2026-10-24T00:21:58,20261023_stageB_fam_p5_r2_s0,completed,cs:140,82023936eb99,v2.7,fam_p5,4,2,42,serve,3,any,0,1,1,1,120,1,216.8588,968.6135,15.0673,3.9569,3.9381,0.5882,0.7463,0.7428,0.7209,3.0054,1.5915,1.0166,1.0497,0.9898,0.5776,,4.794,,116,9,61,5484.75,0.1488,106,107,45,61,69,0.0676,1
2026-10-24T00:33:37,20261023_stageB_fam_p1_r0_s0,completed,cs:140,82023936eb99,v2.7,fam_p1,4,0,42,serve,1,any,0,1,1,1,120,1,179.9344,694.309,1.9311,0.7289,0.9608,0,0,0.742,0,3.0918,3.1814,2.8545,0.653,0,0,,0,,0,0,0,0,0,10,11,22,0,0,0,1
2026-10-24T00:42:09,20261023_stageB_fam_p1_r0_s1,completed,cs:140,82023936eb99,v2.7,fam_p1,4,0,42,serve,1,any,1,1,1,1,120,1,171.637,507.5364,2.2816,1.0721,0.8046,0,0,0.758,0,3.1089,3.1814,2.8545,0.653,0,0,,0,,0,0,0,0,0,9,11,22,0,0,0,1
2026-10-24T00:51:32,20261023_stageB_fam_p1_r0_s2,completed,cs:140,82023936eb99,v2.7,fam_p1,4,0,42,serve,1,any,2,1,1,1,120,1,181.8777,558.8922,3.9575,2.1577,0.913,0,0,0.7676,0,3.2595,3.1814,2.8545,0.653,0,0,,0,,0,0,0,0,0,7,14,22,0,0,0,1
2026-10-24T01:01:20,20261023_stageB_fam_p1_r1_s0,completed,cs:140,82023936eb99,v2.7,fam_p1,4,1,42,serve,3,any,0,1,1,1,120,1,190.4947,583.2244,3.5292,1.6372,3.8528,0.6376,0.5688,0.7286,0.7901,2.7416,1.6401,1.189,2.0398,0.7252,0.5796,,6.1226,,57,1,20,2254.078,0.0157,58,43,23,20,94,0.0446,1
2026-10-24T01:10:23,20261023_stageB_fam_p1_r1_s1,completed,cs:140,82023936eb99,v2.7,fam_p1,4,1,42,serve,3,any,1,1,1,1,120,1,179.0147,538.8367,1.5759,0.3513,3.1393,0.5056,0.75,0.6575,0.7625,2.5104,1.6401,1.189,2.0398,0.7252,0.5802,,4.3264,,70,0,5,1117.942,0.2593,37,37,6,5,45,0.0375,1

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 13:24:58",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.7397, "dish_wait_p90": 10.3976, "cold_share": 0.4527, "seat_wait_mean": 1.711, "turn_mean": 7.252, "robot_share": 0.3483, "robot_dishes": 70, "staff_dishes": 131, "requeued_dishes": 4, "groups": 81, "people_jams": 1460, "robot_blocked_jams": 1405, "robot_blocked_jam_share": 0.9623, "chair_pulls": 167, "robot_contacts": 56, "robot_yield_waits": 166, "robot_yield_wait_s": 1029.729, "robot_yield_detours": 4, "register_crowd_max": 10, "register_crowd_mean": 2.5949, "register_pay_count": 78, "register_pay_not_at_back": 0, "register_pay_off_spot": 8, "register_pay_offset_mean_m": 0.0207, "register_pay_offset_max_m": 0.289, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 37, "drink_bar_gave_up": 7, "drink_bar_wait_mean": 0.6458, "drink_bar_wait_p90": 1.003, "gave_up": 123, "warped": 57, "table_freed": 43, "people_jam_total_s": 4807.236, "walkers_mean": 9.5047, "measured_minutes": 195.3863},
  "site_metrics": {"entry_wait_mean": 4.2537, "full_wait_mean": 0.0376, "staff_wait_mean": 3.0124, "blocked_wait_mean": 1.6735, "guide_wait_mean": 1.3389, "seat_wait_mean": 1.711, "dish_wait_mean": 3.7397, "dish_wait_p90": 10.3976, "cold_share": 0.4527, "turn_mean": 7.252, "walk_km_per_staff": 2.7476, "staff_util": 0.7874, "robot_util": 0.5667, "robot_share": 0.3483, "rescues": 64, "pauses": 307, "groups": 81},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 195.3863, "everyone_left": true, "aisle_deferrals": 19, "rescues_done": 58, "rescue_wait_s": 2562.661, "gave_up": 123, "warped": 57, "table_freed": 43},
  "site_result": {"dish_wait_mean": 0.4568, "dish_wait_p90": 0.8167, "cold_share": 0, "seat_wait_mean": 0.6083, "turn_mean": 4.3928, "walk_km_per_staff": 1.872, "staff_util": 0.6436, "robot_util": 0.4764, "robot_share": 0.7257, "robot_bus_share": 0, "collects": 0, "rescues": 1.475, "pauses": 41.625, "fragile_robot": 31.9, "groups": 82.1, "entry_wait_mean": 1.0194, "blocked_wait_mean": 0.5116, "guide_wait_mean": 0.2337, "staff_wait_mean": 0.7453, "full_wait_mean": 0.0967},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r2_a42,1.2,normal,2,0,1,1,34,9.5125,21.2,3.8,3,0.95;1.2;1.65,0,0,0,1,0.1969,0,34,0,,,0,0.5467,0,0,0,0,3,0,3.8
fam_p1_s4_r2_a42,1.2,normal,2,0,1,2,10,21.7876,600.027,560.6866,6,0.95;0.95;2.75;48.0496;3.2;56.5994,1,1,0,1,0.0074,1,10,1,1413.373,1459.668,0,0.5538,5,148.0044,0,0,11,0,412.7458
fam_p1_s4_r2_a42,1.2,normal,2,0,1,3,37,11.1625,26.2999,5.05,5,0.95;1.55;1.1;0.95;0.5,0,0,0,1,0.196,0,37,1,2185.427,2811.187,0,0.5253,0,0,0,0,5,0,5.05
fam_p1_s4_r2_a42,1.2,normal,2,0,2,4,12,25.8027,600.027,553.3384,8,0.95;17.05;17.65;2.75;1.6;51.5495;32.6998;0.9,1,1,0,1,0.1722,1,12,0,,,0,0.5527,3,248.1105,0,0,11,0,305.2974
fam_p1_s4_r2_a42,1.2,normal,2,0,1,5,6,34.9352,325.794,265.2088,5,0.95;8.65;55.9994;1.25;1.7,1,0,0,1,-0.1086,0,6,1,2706.685,2894.518,0,0.5766,2,76.5501,0,0,7,0,188.6482
fam_p1_s4_r2_a42,1.2,normal,2,0,2,6,16,43.0449,244.4603,164.7054,15,0.95;5.35;2.6;2.45;3.4;2.8;1.85;20.45;2.85;3.2;3.2;3.55;2.8;2.05;2.35,1,0,0,1,-0.1078,1,16,1,2228.619,2983.305,0,0.5397,1,44.7996,0,0,16,0,119.8993
fam_p1_s4_r2_a42,1.2,normal,2,0,2,7,41,28.1276,471.3084,415.922,16,0.95;13.75;0.7;0.95;0.45;2.6;2.8;2.8;2.8;2.8;2.65;2.8;3.7;1.15;1.2;1.5,1,0,0,1,-0.2454,1,41,1,2963.436,3253.068,0,0.5078,4,132.1535,0,0,20,0,283.7975

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r2_a42,0,1,1,1413.2,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,1,1418.55,15.4629,5.0228,,0,スタッフとすれ違った,Staff03,0,1.2,自分で動き出した,275,275,275,0.25,0,0,0.95,0,15.538;5.965,15.238;2.188,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,1,1420.4,15.4532,4.9007,,0,お客さんとすれ違った,Guest(Clone),0,1.65,自分で動き出した,275,275,275,0.7,0,0,0.95,0,15.538;5.965,15.238;2.188,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,2,2184.5,16.8535,5.8276,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.854;5.828,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,2,2190.7,14.2103,5.2374,,0,スタッフとすれ違った,Staff02,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,15.523;5.932,12.463;4.312,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,2,2203.8,7.455,4.3364,,0,お客さんとすれ違った,Guest(Clone),0,2.75,自分で動き出した,228.6659,21.3692,21.3692,1.5,0,0,1.25,0,12.659;4.416,5.863;4.312,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,2,2244.8,7.305,4.4676,,0,スタッフとすれ違った,Staff03,0,48.0496,経路を引き直した,275,241.8792,241.8792,47.0996,0,0,0.95,4,7.305;4.468,12.463;4.312,PathComplete,2,0.025

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r2_a42,0,2090.934,客,ドリンクバー,8,1.912,10.513,2.2,8.3152,A01,60,移した
fam_p1_s4_r2_a42,0,2292.131,スタッフ,料理を運ぶ,12,5.613,10.513,8.0315,4.6,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2357.544,スタッフ,料理を運ぶ,12,5.613,10.513,12.3719,4.6,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2430.115,スタッフ,料理を運ぶ,14,5.613,6.812,6.3998,4.5186,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2459.694,スタッフ,料理を運ぶ,11,15.3,5.95,10.9928,4.5964,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2483.968,客,ドリンクバー,6,1.912,6.812,2.0064,5.7561,A01,60,移した
fam_p1_s4_r2_a42,0,2494.228,スタッフ,料理を運ぶ,14,5.613,6.812,12.3719,4.6,,60.0494,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r2_a42,0,1,4,1,4,56.4194,56.4194,119.0727,3329.768,3329.793,3452.012,3452.012,1.0442,0,Done
fam_p1_s4_r2_a42,0,2,3,0,0,95.8213,95.8213,161.5753,2456.397,2456.441,2557.039,2557.039,1.0959,0,Done
fam_p1_s4_r2_a42,0,3,4,3,4,103.0217,103.0217,171.2258,2846.665,2846.672,3093.312,3093.312,1.1367,0,Done
fam_p1_s4_r2_a42,0,4,2,34,2,334.1619,334.1619,408.2438,3114.183,3114.183,3338.852,3338.852,1.2347,0,Done
fam_p1_s4_r2_a42,0,5,1,0,0,424.5898,424.5898,499.3716,2884.93,2884.959,3183.5,3183.5,1.2464,0,Done
fam_p1_s4_r2_a42,0,6,4,0,0,434.8373,434.8373,504.5703,3518.351,3518.377,3722.576,3722.576,1.1622,0,Done
fam_p1_s4_r2_a42,0,7,1,0,0,485.9749,485.9749,563.306,2684.71,2684.714,2850.475,2850.475,1.2889,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r2_a42,0,2455.24,12.1649,4.6,,,スタッフ:Staff04,0,1,9.9628
fam_p1_s4_r2_a42,0,2615.096,11.3094,3.9352,,,客:Guest(Clone),1,1,9.7615
fam_p1_s4_r2_a42,0,2817.693,14.7731,5.8025,,,スタッフ:Staff01,0,1,9.7175
fam_p1_s4_r2_a42,0,2914.988,9.1223,4.8295,A03,,客:Guest(Clone),0,1,9.0562
fam_p1_s4_r2_a42,0,2954.327,9.1235,4.8335,A03,,スタッフ:Staff01,0,1,9.4644
fam_p1_s4_r2_a42,0,3018.639,8.9945,4.8165,A03,,客:Guest(Clone),0,2,9.8292
fam_p1_s4_r2_a42,0,3041.862,8.9062,4.8314,A03,,スタッフ:Staff01,0,2,9.9887

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 13:24:59",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":29208},"summaryJson":{"instanceID":29202},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 13:00:00 JST（版 f282eaa6cb71）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 15:52:02",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.851, "dish_wait_p90": 10.3785, "cold_share": 0.441, "seat_wait_mean": 8.0638, "turn_mean": 7.3655, "robot_share": 0.3755, "robot_dishes": 86, "staff_dishes": 143, "requeued_dishes": 5, "groups": 91, "people_jams": 2172, "robot_blocked_jams": 2100, "robot_blocked_jam_share": 0.9669, "chair_pulls": 183, "robot_contacts": 94, "robot_yield_waits": 461, "robot_yield_wait_s": 1247.492, "robot_yield_detours": 8, "register_crowd_max": 11, "register_crowd_mean": 3.0586, "register_pay_count": 85, "register_pay_not_at_back": 0, "register_pay_off_spot": 18, "register_pay_offset_mean_m": 0.0511, "register_pay_offset_max_m": 0.2953, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 33, "drink_bar_gave_up": 4, "drink_bar_wait_mean": 0.5975, "drink_bar_wait_p90": 1.0017, "gave_up": 155, "warped": 71, "table_freed": 63, "people_jam_total_s": 5047.076, "walkers_mean": 11.6789, "measured_minutes": 194.7289},
  "site_metrics": {"entry_wait_mean": 10.8722, "full_wait_mean": 3.6106, "staff_wait_mean": 6.0375, "blocked_wait_mean": 4.4532, "guide_wait_mean": 1.5843, "seat_wait_mean": 8.0638, "dish_wait_mean": 3.851, "dish_wait_p90": 10.3785, "cold_share": 0.441, "turn_mean": 7.3655, "walk_km_per_staff": 2.7058, "staff_util": 0.8648, "robot_util": 0.6614, "robot_share": 0.3755, "rescues": 83, "pauses": 333, "groups": 91},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 194.7289, "everyone_left": true, "aisle_deferrals": 27, "staff_first_yield": true, "robot_stuck_detours": 241, "rescues_done": 77, "rescue_wait_s": 2871.66, "gave_up": 155, "warped": 71, "table_freed": 63},
  "site_result": {"dish_wait_mean": 0.4568, "dish_wait_p90": 0.8167, "cold_share": 0, "seat_wait_mean": 0.6083, "turn_mean": 4.3928, "walk_km_per_staff": 1.872, "staff_util": 0.6436, "robot_util": 0.4764, "robot_share": 0.7257, "robot_bus_share": 0, "collects": 0, "rescues": 1.475, "pauses": 41.625, "fragile_robot": 31.9, "groups": 82.1, "entry_wait_mean": 1.0194, "blocked_wait_mean": 0.5116, "guide_wait_mean": 0.2337, "staff_wait_mean": 0.7453, "full_wait_mean": 0.0967},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r2_a42,1.2,normal,2,0,1,1,34,9.5125,21.25,3.75,3,0.95;1.25;1.55,0,0,0,1,0.2,0,34,0,,,0,0.5436,0,0,0,0,3,0,3.75
fam_p1_s4_r2_a42,1.2,normal,2,0,1,2,10,1.23,600.027,596.8278,2,0.95;0.6,1,1,0,1,-0.0967,0,10,1,1413.373,1459.719,0,0.3845,7,175.0061,0,0,9,0,421.8956
fam_p1_s4_r2_a42,1.2,normal,2,0,2,3,37,19.5,53.8995,17.55,7,0.95;2.6;2.8;2.8;2.8;2.8;2.8,0,0,0,1,0.1655,1,37,0,,,0,0.5365,0,0,0,0,7,0,17.55
fam_p1_s4_r2_a42,1.2,normal,2,0,2,4,6,36.9051,410.3233,345.989,7,0.95;3;10.45;2.8;8.05;44.5996;9.45,1,0,0,1,-0.2056,1,6,1,2706.735,2785.762,0,0.5736,3,86.5507,0,0,10,0,259.4478
fam_p1_s4_r2_a42,1.2,normal,2,0,1,5,10,37.8626,462.2107,395.9268,5,3.25;2.75;20.7;0.75;1.15,1,0,0,1,-0.08,1,10;15;17,1,2184.876,-1,1,0.5712,2,247.2605,0,0,7,0,148.6987
fam_p1_s4_r2_a42,1.2,normal,2,0,1,6,41,50.8645,129.7033,41.8997,5,0.95;0.5;2.2;13.15;25.0999,0,0,0,1,0.0305,0,41;12,3,2184.876;2678.758;2722.2,3323.487;3323.487;3323.487,0,0.5793,0,0,0,0,5,0,41.8999
fam_p1_s4_r2_a42,1.2,normal,2,0,1,7,23,29.7003,78.9002,27.1999,3,0.95;1.05;25.1999,0,0,0,1,0.1088,0,23;25;21,2,3276.141;3299.513,3503.462;3503.462,0,0.5745,0,0,0,0,3,0,27.1999

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r2_a42,0,1,1,1413.2,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,1,1418.55,15.4629,5.0228,,0,スタッフとすれ違った,Staff03,0,1.25,自分で動き出した,275,275,275,0.3,0,0,0.95,0,15.538;5.965,15.238;2.188,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,1,1420.85,15.439,4.7213,,0,お客さんとすれ違った,Guest(Clone),0,1.55,自分で動き出した,275,275,275,0.6,0,0,0.95,0,15.538;5.965,15.238;2.188,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,2,2183.95,16.8535,5.8276,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.854;5.828,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,2,2186.6,16.1656,5.8818,,0,スタッフとすれ違った,Staff04,0,0.6,自分で動き出した,275,37.0131,37.0131,0,0,0,0.6,0,16.854;5.828,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,2,2188.65,15.6273,5.9242,,0,スタッフとすれ違った,Staff02,0,60.0494,動けなくなった,275,32.7577,32.7577,60.0494,0,0,0,5,15.627;5.924,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,2,2279.8,15.6273,5.9242,,0,人が立ち止まっていた,Staff02,0,60.0494,動けなくなった,275,32.7577,32.7577,60.0494,0,0,0,5,15.627;5.924,15.3;5.95,PathComplete,2,0.025

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r2_a42,0,2091.235,客,ドリンクバー,8,1.912,10.513,2.2,8.3054,A01,60,移した
fam_p1_s4_r2_a42,0,2233.123,スタッフ,料理を運ぶ,12,15.3,5.95,14.9304,6.1665,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2260.3,スタッフ,料理を運ぶ,34,15.3,5.95,15.1656,5.3482,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2261.15,スタッフ,料理を運ぶ,10,15.3,5.95,14.8888,5.861,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2293.282,スタッフ,呼び出し,40,21.362,2.188,14.9652,6.2491,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2320.458,スタッフ,料理を運ぶ,12,15.3,5.95,14.9615,5.6003,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,2321.309,スタッフ,料理を運ぶ,9,15.3,5.95,14.9304,6.1379,,60.0494,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r2_a42,0,1,4,0,0,56.4194,56.4194,119.1727,3329.868,3329.893,3553.061,3553.061,1.0459,0,Done
fam_p1_s4_r2_a42,0,2,3,0,0,95.8213,95.8213,161.5753,2456.397,2456.441,2558.24,2558.24,1.0959,0,Done
fam_p1_s4_r2_a42,0,3,4,0,0,103.0217,103.0217,171.3759,2846.814,2846.822,3053.073,3053.073,1.1392,0,Done
fam_p1_s4_r2_a42,0,4,2,34,2,334.1619,334.1619,408.2438,3114.232,3114.233,3366.529,3366.529,1.2347,0,Done
fam_p1_s4_r2_a42,0,5,1,0,0,424.5898,424.5898,499.4216,2884.98,2885.009,3203.42,3203.42,1.2472,0,Done
fam_p1_s4_r2_a42,0,6,4,0,0,434.8373,434.8373,504.7703,3518.601,3518.627,3823.625,3823.625,1.1655,0,Done
fam_p1_s4_r2_a42,0,7,1,0,0,485.9749,485.9749,563.4059,2685.861,2685.865,2897.321,2897.321,1.2905,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r2_a42,0,2402.188,15.1864,6.25,,,スタッフ:Staff03,0,1,9.8225
fam_p1_s4_r2_a42,0,2546.829,15.3,5.95,,,スタッフ:Staff01,0,1,-12.1676
fam_p1_s4_r2_a42,0,2610.942,15.3,5.95,,,スタッフ:Staff04,0,1,-12.1676
fam_p1_s4_r2_a42,0,2749.177,15.3,5.95,,,スタッフ:Staff01,0,1,-12.1676
fam_p1_s4_r2_a42,0,2785.612,14.8527,5.9045,,,スタッフ:Staff04,0,1,-0.0352
fam_p1_s4_r2_a42,0,2808.584,5.7681,4.8865,A02,,客:Guest(Clone),0,1,9.0387
fam_p1_s4_r2_a42,0,2852.978,5.4525,4.7904,,,スタッフ:Staff03,0,1,9.4787

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 15:52:02",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":29208},"summaryJson":{"instanceID":29202},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 13:00:00 JST（版 f282eaa6cb71）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 19:54:16",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 2.2392, "dish_wait_p90": 5.0635, "cold_share": 0.1885, "seat_wait_mean": 0, "turn_mean": 4.8234, "robot_share": 0.3246, "robot_dishes": 62, "staff_dishes": 129, "requeued_dishes": 5, "groups": 73, "people_jams": 382, "robot_blocked_jams": 286, "robot_blocked_jam_share": 0.7487, "chair_pulls": 158, "robot_contacts": 27, "robot_yield_waits": 139, "robot_yield_wait_s": 951.8911, "robot_yield_detours": 2, "register_crowd_max": 9, "register_crowd_mean": 2.3443, "register_pay_count": 73, "register_pay_not_at_back": 0, "register_pay_off_spot": 6, "register_pay_offset_mean_m": 0.0171, "register_pay_offset_max_m": 0.2845, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 13, "drink_bar_gave_up": 4, "drink_bar_wait_mean": 0.5264, "drink_bar_wait_p90": 0.9419, "gave_up": 40, "warped": 46, "table_freed": 15, "people_jam_total_s": 978.5964, "walkers_mean": 8.3248, "measured_minutes": 182.4529},
  "site_metrics": {"entry_wait_mean": 1.806, "full_wait_mean": 0, "staff_wait_mean": 0.5941, "blocked_wait_mean": 0, "guide_wait_mean": 0.5941, "seat_wait_mean": 0, "dish_wait_mean": 2.2392, "dish_wait_p90": 5.0635, "cold_share": 0.1885, "turn_mean": 4.8234, "walk_km_per_staff": 2.9419, "staff_util": 0.7263, "robot_util": 0.3581, "robot_share": 0.3246, "rescues": 26, "pauses": 294, "groups": 73},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 182.4529, "everyone_left": true, "aisle_deferrals": 7, "staff_first_yield": false, "robot_stuck_detours": 0, "rescues_done": 25, "rescue_wait_s": 943.3589, "gave_up": 40, "warped": 46, "table_freed": 15},
  "site_result": {"dish_wait_mean": 0.481, "dish_wait_p90": 0.8814, "cold_share": 0.0001, "seat_wait_mean": 0.9795, "turn_mean": 4.5091, "walk_km_per_staff": 1.9533, "staff_util": 0.6561, "robot_util": 0.4897, "robot_share": 0.7311, "robot_bus_share": 0, "collects": 0, "rescues": 1.425, "pauses": 40.525, "fragile_robot": 31.85, "groups": 82.925, "entry_wait_mean": 1.4157, "blocked_wait_mean": 0.842, "guide_wait_mean": 0.2535, "staff_wait_mean": 1.0954, "full_wait_mean": 0.1375},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p5_s4_r2_a42,0.95,normal,2,0,1,1,34,9.48,19.7,2.8,2,0.95;1.85,0,0,0,1,0.1664,0,34,0,,,0,0.5609,0,0,0,0,2,0,2.8
fam_p5_s4_r2_a42,0.95,normal,2,0,1,2,9,24.3602,45.3996,3.15,3,0.95;1.35;0.85,0,0,0,1,0.1672,0,9,1,1413.123,1457.917,0,0.5766,0,0,1,0,3,0,3.15
fam_p5_s4_r2_a42,0.95,normal,2,0,1,3,14,28.0227,89.2008,38.8497,7,0.95;1;1.05;1.85;1.35;31.3998;1.25,0,0,0,1,0.1566,0,14,1,2055.049,2125.568,0,0.5565,0,0,1,0,7,0,38.8498
fam_p5_s4_r2_a42,0.95,normal,2,0,1,4,19,21.1501,38.6497,2.3,2,0.95;1.35,0,0,0,1,0.1987,0,19,1,2577.359,2691.72,0,0.5819,0,0,1,0,2,0,2.3
fam_p5_s4_r2_a42,0.95,normal,2,0,2,5,39,18.4,33.3998,1.65,2,0.95;0.7,0,0,0,1,0.5618,0,39,0,,,0,0.5795,0,0,0,0,2,0,1.65
fam_p5_s4_r2_a42,0.95,normal,2,0,1,6,17,35.3702,60.4494,0.95,1,0.95,0,0,0,0,2.0739,0,17,1,3155.073,3218.835,0,0.5945,0,0,0,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,0,1,7,18,17.46,32.5998,2.4,2,0.95;1.45,0,0,0,1,0.3,0,18,1,3377.79,3463.373,0,0.5781,0,0,1,0,2,0,2.4

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p5_s4_r2_a42,0,1,1,1412.95,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,1,1418.95,15.4321,4.634,,0,スタッフとすれ違った,Staff03,0,1.85,自分で動き出した,275,275,275,0.9,0,0,0.95,0,15.538;5.965,15.238;2.188,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,2,2054.25,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,2,2073.35,6.5708,4.4259,,0,スタッフとすれ違った,Staff03,0,1.35,自分で動き出した,275,12.4094,12.4094,0.4,0,0,0.95,0,11.835;4.485,5.413;4.413,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,2,2076.8,5.6423,4.4221,,0,お客さんとすれ違った,Guest(Clone),0,0.85,自分で動き出した,275,16.7521,16.7521,0,0,0,0.85,0,5.656;4.416,5.238;4.612,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,3,2576.05,16.8497,5.8241,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.85;5.824,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,3,2583.6,13.3831,5.0844,,0,スタッフとすれ違った,Staff01,0,1,自分で動き出した,275,275,275,0.05,0,0,0.95,0,15.549;5.93,11.663;4.413,PathComplete,2,0.025

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r2_a42,0,1476.185,客,ドリンクバー,4,1.763,10.312,1.8382,5.1076,A01,60,移した
fam_p5_s4_r2_a42,0,2103.647,客,ドリンクバー,7,1.763,8.662,1.9,8.2255,A01,60,移した
fam_p5_s4_r2_a42,0,2275.965,客,ドリンクバー,2,1.763,6.613,1.8222,5.6024,A01,60,移した
fam_p5_s4_r2_a42,0,2330.168,客,ドリンクバー,4,1.763,10.312,8.4708,4.4002,,60,移した
fam_p5_s4_r2_a42,0,2678.257,客,ドリンクバー,9,5.212,4.962,11.9191,4.6306,,60,移した
fam_p5_s4_r2_a42,0,2679.809,客,ドリンクバー,3,1.763,8.462,1.8612,6.1224,A01,60,移した
fam_p5_s4_r2_a42,0,2932.455,客,ドリンクバー,4,1.763,10.312,1.7704,9.7774,A01,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r2_a42,0,1,4,1,4,56.4194,56.4194,119.2227,3330.268,3330.293,3487.247,3487.247,1.0467,0,Done
fam_p5_s4_r2_a42,0,2,3,2,4,95.8213,95.8213,161.2752,2456.447,2456.491,2557.94,2557.94,1.0909,0,Done
fam_p5_s4_r2_a42,0,3,4,3,4,103.0217,103.0217,171.1758,2847.964,2847.973,2982.654,2982.654,1.1359,0,Done
fam_p5_s4_r2_a42,0,4,2,34,2,334.1619,334.1619,407.9939,3690.515,3690.545,3961.009,3961.009,1.2305,0,Done
fam_p5_s4_r2_a42,0,5,1,35,2,424.5898,424.5898,499.2216,2884.98,2885.009,3084.704,3084.704,1.2439,0,Done
fam_p5_s4_r2_a42,0,6,4,4,4,434.8373,434.8373,504.5203,3518.601,3518.627,3690.445,3690.445,1.1614,0,Done
fam_p5_s4_r2_a42,0,7,1,36,2,485.9749,485.9749,563.106,2685.761,2685.765,2786.963,2786.963,1.2855,0,Done

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 19:54:17",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 22:39:47",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 5.2073, "dish_wait_p90": 9.8408, "cold_share": 0.7733, "seat_wait_mean": 8.6653, "turn_mean": 8.7138, "robot_share": 0.7511, "robot_dishes": 169, "staff_dishes": 56, "requeued_dishes": 3, "late_staff_dishes": 56, "late_staff_share": 0.2489, "robot_first_wait_s": 120, "yields": 13569, "yields_by_robot": 136, "yields_by_staff": 13173, "yields_by_guest": 260, "yields_stepped_aside": 9784, "yields_in_corner": 1997, "yields_passed": 963, "yield_wait_s": 21526.62, "yield_wait_mean_s": 1.5865, "corner_stops": 45, "corner_stop_s": 261.5986, "corner_stop_count_share": 0.0893, "corner_stop_time_share": 0.0417, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 88, "people_jams": 640, "robot_blocked_jams": 606, "robot_blocked_jam_share": 0.9469, "chair_pulls": 164, "robot_contacts": 165, "robot_yield_waits": 13450, "robot_yield_wait_s": 20355.23, "robot_yield_detours": 9, "register_crowd_max": 10, "register_crowd_mean": 2.6837, "register_pay_count": 84, "register_pay_not_at_back": 7, "register_pay_off_spot": 28, "register_pay_offset_mean_m": 0.7602, "register_pay_offset_max_m": 12.5246, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 37, "drink_bar_gave_up": 8, "drink_bar_wait_mean": 0.6642, "drink_bar_wait_p90": 1.003, "gave_up": 199, "warped": 87, "table_freed": 77, "people_jam_total_s": 728.6966, "walkers_mean": 11.1097, "measured_minutes": 206.8589},
  "site_metrics": {"entry_wait_mean": 11.443, "full_wait_mean": 4.1932, "staff_wait_mean": 5.8542, "blocked_wait_mean": 4.472, "guide_wait_mean": 1.3822, "seat_wait_mean": 8.6653, "dish_wait_mean": 5.2073, "dish_wait_p90": 9.8408, "cold_share": 0.7733, "turn_mean": 8.7138, "walk_km_per_staff": 2.1693, "staff_util": 0.8687, "robot_util": 0.6852, "robot_share": 0.7511, "rescues": 46, "pauses": 458, "groups": 88},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 206.8589, "everyone_left": true, "aisle_deferrals": 50, "staff_first_yield": true, "robot_stuck_detours": 12117, "rescues_done": 43, "rescue_wait_s": 1491.758, "gave_up": 199, "warped": 87, "table_freed": 77},
  "site_result": {"dish_wait_mean": 1.0102, "dish_wait_p90": 2.0803, "cold_share": 0.014, "seat_wait_mean": 0.4546, "turn_mean": 3.5399, "walk_km_per_staff": 1.6027, "staff_util": 0.6158, "robot_util": 0.6013, "robot_share": 0.9914, "robot_bus_share": 0, "collects": 0, "rescues": 1.6, "pauses": 44.2, "fragile_robot": 41.9, "groups": 83.275, "entry_wait_mean": 0.8336, "blocked_wait_mean": 0.3575, "guide_wait_mean": 0.2015, "staff_wait_mean": 0.559, "full_wait_mean": 0.0971},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r2_a42,1.2,normal,2,0,1,1,3,38.3101,77.2001,12.25,2,7.4;4.85,0,0,0,1,0.35,1,3,0,,,0,0.5898,0,0,0,0,2,0,12.25
fam_p1_s4_r2_a42,1.2,normal,2,0,2,2,2,37.1251,146.5543,82.2004,4,0.95;2.7;2.5;0.95,1,0,0,1,0.0017,1,2;1,0,,,0,0.5769,1,15.05,0,0,5,0,67.1494
fam_p1_s4_r2_a42,1.2,normal,2,0,1,3,1,30.9003,72.8499,19.15,4,0.95;4.4;0.65;13.15,0,0,0,1,0.332,1,1,1,535.8627,638.0877,0,0.5754,0,0,0,0,4,0,19.15
fam_p1_s4_r2_a42,1.2,normal,2,0,1,4,34,9.45,50.6995,33.2998,3,3.8;1.35;28.1499,0,0,0,1,-0.007,0,34,1,706.9209,804.797,0,0.5431,0,0,0,0,3,0,33.2999
fam_p1_s4_r2_a42,1.2,normal,2,0,2,5,3,39.66,240.4101,172.6559,3,1.85;17.4;12.95,1,0,0,1,0,1,3,2,569.4045;551.059,803.2474;803.2474,0,0.5854,1,80.4003,0,0,4,0,92.2494
fam_p1_s4_r2_a42,1.2,normal,2,0,1,6,35,9.42,48.6995,30.7998,4,0.95;27.8499;1.05;0.95,0,0,0,1,0.1325,1,35,1,921.1186,996.8501,0,0.5263,0,0,0,0,4,0,30.7999
fam_p1_s4_r2_a42,1.2,normal,2,0,2,7,36,47.1472,88.0508,7.2,4,0.95;3.05;2.65;0.55,0,0,0,1,0.0638,1,36;4,1,715.9187,1068.687,0,0.5831,0,0,0,0,4,0,7.2

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r2_a42,0,1,1,535.95,16.9,6.05,,0,分からない,,0,7.4,自分で動き出した,275,275,275,6.15,0,0,1.25,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,1,620.45,10.0485,4.362,,0,もう1台のロボット,ServingRobot02,0,4.85,自分で動き出した,18.8092,231.2592,18.8092,3.9,0,0,0.95,0,2.055;4.533,12.388;4.312,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,606.75,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,620.45,10.7707,4.39,,0,もう1台のロボット,ServingRobot01,0,2.7,自分で動き出した,234.0106,16.0017,16.0017,1.75,0,0,0.95,0,10.771;4.39,10.771;3.462,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,714.4,12.9453,4.4651,,0,もう1台のロボット,ServingRobot01,0,2.5,自分で動き出した,275,275,275,1.55,0,0,0.95,0,12.945;4.465,13.316;3.823,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,720.35,14.413,4.2838,,0,人が立ち止まっていた,Staff02,0,60.0494,動けなくなった,275,271.2823,271.2823,59.9994,0,0,0.05,5,14.413;4.284,17.7;4.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,795.45,14.413,4.2838,,0,スタッフとすれ違った,Staff02,0,0.95,自分で動き出した,275,271.2823,271.2823,0,0,0,0.95,0,14.413;4.284,17.7;4.95,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r2_a42,0,1,3,3,0,535.8627,535.9127,638.0877,ロボット,0.05,102.175,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,3,2,2,0,569.4045,606.6954,803.2474,ロボット,37.2909,196.552,0,0,0,1,0,1
fam_p1_s4_r2_a42,0,2,1,1,0,551.059,606.6954,803.2474,ロボット,55.6364,196.552,0,0,0,1,0,1
fam_p1_s4_r2_a42,0,4,1,1,0,706.9209,706.9709,804.797,ロボット,0.05,97.8261,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,7,34,4,0,921.1186,921.1686,996.8501,ロボット,0.05,75.6815,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,6,2,2,0,860.2335,980.2542,1068.237,スタッフ,120.0207,87.9824,0,0,0,1,1,1
fam_p1_s4_r2_a42,0,5,3,3,0,715.9187,803.2974,1068.687,ロボット,87.3787,265.3896,0,0,0,1,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p1_s4_r2_a42,0,0.02,スタッフ:Staff01,1,ロボット1号機,15.2028,5.3034,,,0,30.0498,1,0
fam_p1_s4_r2_a42,0,0.02,スタッフ:Staff02,1,ロボット1号機,15.3505,5.5063,,,0,30.0498,1,0
fam_p1_s4_r2_a42,0,0.02,スタッフ:Staff04,1,ロボット1号機,15.5939,5.7531,,,0,30.0498,1,0
fam_p1_s4_r2_a42,0,30.1198,スタッフ:Staff01,1,ロボット1号機,15.9748,5.0506,,,0,27.8499,1,1
fam_p1_s4_r2_a42,0,30.1198,スタッフ:Staff02,1,ロボット1号機,16.0389,5.446,,,0,30.0498,1,0
fam_p1_s4_r2_a42,0,30.1198,スタッフ:Staff04,1,ロボット1号機,15.9846,5.8423,,,0,30.0498,1,0
fam_p1_s4_r2_a42,0,60.2194,スタッフ:Staff02,1,ロボット1号機,16.0342,5.4478,,,0,30.0498,1,0

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r2_a42,0,796.649,スタッフ,案内,38,19.162,2.188,12.5428,3.6181,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,815.9443,スタッフ,案内,40,0.9,2.1,14.6509,5.624,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,923.368,スタッフ,立ち往生を動かす,0,16.8756,6.0142,16.0695,5.9909,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1237.402,スタッフ,案内,8,0.9,2.1,2.4942,4.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1248.663,客,ドリンクバー,1,1.912,4.762,5.3624,4.6208,,60,移した
fam_p1_s4_r2_a42,0,1249.163,スタッフ,案内,9,0.9,2.1,3.1852,3.5148,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1266.38,客,ドリンクバー,3,1.912,8.462,4.4869,4.326,,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r2_a42,0,1,4,0,0,56.4194,56.4194,118.3726,2483.966,2483.968,2676.155,2676.155,1.0326,0,Done
fam_p1_s4_r2_a42,0,2,3,0,0,95.8213,95.8213,163.1754,3368.463,3368.481,3803.255,3803.255,1.1226,0,Done
fam_p1_s4_r2_a42,0,3,4,0,0,103.0217,103.0217,171.1758,3024.138,3101.27,3370.282,3370.282,1.1359,0,Done
fam_p1_s4_r2_a42,0,4,2,0,0,334.1619,334.1619,408.2938,3492.067,3826.027,4073.819,4073.819,1.2355,0,Done
fam_p1_s4_r2_a42,0,5,1,0,0,424.5898,424.5898,499.5215,3977.375,3977.375,4163.675,4163.675,1.2489,0,Done
fam_p1_s4_r2_a42,0,6,4,0,0,434.8373,434.8373,504.9202,3493.491,3668.674,3893.443,3893.443,1.168,0,Done
fam_p1_s4_r2_a42,0,7,1,36,2,485.9749,485.9749,569.8044,3356.911,3356.919,3713.067,3713.067,1.3972,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r2_a42,0,747.311,14.1882,3.7836,,,スタッフ:Staff01,0,2,9.8348
fam_p1_s4_r2_a42,0,763.2072,14.1566,4.7604,,,スタッフ:Staff01,0,2,9.1188
fam_p1_s4_r2_a42,0,909.1715,17.4382,5.3079,,,スタッフ:Staff03,0,2,9.4923
fam_p1_s4_r2_a42,0,927.3171,15.3785,5.5289,,,スタッフ:Staff02,1,1,8.3554
fam_p1_s4_r2_a42,0,946.8623,16.0459,5.6047,,,スタッフ:Staff02,0,1,9.7739
fam_p1_s4_r2_a42,0,1196.662,12.5429,3.7527,,,スタッフ:Staff02,0,2,9.6869
fam_p1_s4_r2_a42,0,1235.3,2.5658,4.55,,,スタッフ:Staff01,0,1,9.5244

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 22:39:48",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldApproachM":1.5,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 23:06:27",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 4.5201, "dish_wait_p90": 8.0161, "cold_share": 0.6116, "seat_wait_mean": 5.1486, "turn_mean": 6.8019, "robot_share": 0.6786, "robot_dishes": 152, "staff_dishes": 72, "requeued_dishes": 5, "late_staff_dishes": 72, "late_staff_share": 0.3214, "robot_first_wait_s": 120, "yields": 1275, "yields_by_robot": 90, "yields_by_staff": 933, "yields_by_guest": 252, "yields_stepped_aside": 378, "yields_in_corner": 496, "yields_passed": 688, "yield_wait_s": 4416.298, "yield_wait_mean_s": 3.4638, "staff_yields": 933, "staff_yield_wait_s": 2545.745, "staff_yield_mean_s": 2.7286, "staff_yield_share_of_staff_time": 0.054, "staff_time_total_s": 47184.04, "corner_stops": 49, "corner_stop_s": 657.5948, "corner_stop_count_share": 0.1186, "corner_stop_time_share": 0.1224, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 90, "people_jams": 910, "robot_blocked_jams": 872, "robot_blocked_jam_share": 0.9582, "chair_pulls": 175, "robot_contacts": 105, "robot_yield_waits": 1182, "robot_yield_wait_s": 3181.779, "robot_yield_detours": 14, "register_crowd_max": 12, "register_crowd_mean": 2.6195, "register_pay_count": 87, "register_pay_not_at_back": 2, "register_pay_off_spot": 32, "register_pay_offset_mean_m": 0.2584, "register_pay_offset_max_m": 12.5246, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 35, "drink_bar_gave_up": 6, "drink_bar_wait_mean": 0.5136, "drink_bar_wait_p90": 0.9071, "gave_up": 109, "warped": 65, "table_freed": 44, "people_jam_total_s": 1827.444, "walkers_mean": 10.5814, "measured_minutes": 196.4538},
  "site_metrics": {"entry_wait_mean": 7.1148, "full_wait_mean": 1.1491, "staff_wait_mean": 4.7063, "blocked_wait_mean": 3.9995, "guide_wait_mean": 0.7068, "seat_wait_mean": 5.1486, "dish_wait_mean": 4.5201, "dish_wait_p90": 8.0161, "cold_share": 0.6116, "turn_mean": 6.8019, "walk_km_per_staff": 2.6768, "staff_util": 0.7867, "robot_util": 0.6794, "robot_share": 0.6786, "rescues": 54, "pauses": 359, "groups": 90},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 196.4538, "everyone_left": true, "aisle_deferrals": 40, "staff_first_yield": true, "robot_stuck_detours": 470, "rescues_done": 53, "rescue_wait_s": 2327.81, "gave_up": 109, "warped": 65, "table_freed": 44},
  "site_result": {"dish_wait_mean": 1.0102, "dish_wait_p90": 2.0803, "cold_share": 0.014, "seat_wait_mean": 0.4546, "turn_mean": 3.5399, "walk_km_per_staff": 1.6027, "staff_util": 0.6158, "robot_util": 0.6013, "robot_share": 0.9914, "robot_bus_share": 0, "collects": 0, "rescues": 1.6, "pauses": 44.2, "fragile_robot": 41.9, "groups": 83.275, "entry_wait_mean": 0.8336, "blocked_wait_mean": 0.3575, "guide_wait_mean": 0.2015, "staff_wait_mean": 0.559, "full_wait_mean": 0.0971},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r2_a42,1.2,normal,2,0,1,1,3,38.3101,71.5498,6.6,2,0.95;5.65,0,0,0,1,0.5307,1,3,0,,,0,0.5898,0,0,0,0,2,0,6.6
fam_p1_s4_r2_a42,1.2,normal,2,0,2,2,2,36.8251,67.1995,4.45,2,0.95;3.5,0,0,0,1,0.5393,1,2;1,0,,,0,0.5869,0,0,0,0,2,0,4.45
fam_p1_s4_r2_a42,1.2,normal,2,0,1,3,1,30.9003,58.9494,5.8,3,0.95;4.15;0.7,0,0,0,1,0.1318,1,1,1,536.9124,633.4888,0,0.5814,0,0,0,0,3,0,5.8
fam_p1_s4_r2_a42,1.2,normal,2,0,2,4,3,40.71,74.0999,4.6,3,0.95;2.65;1,0,0,0,1,0.4785,1,3,2,567.9048;552.5586,718.5181;718.5181,0,0.5858,0,0,0,0,3,0,4.6
fam_p1_s4_r2_a42,1.2,normal,2,0,1,5,2,34.5302,59.0494,0.95,1,0.95,0,0,0,0,0.9996,0,2,1,708.4205,792.4,0,0.5943,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,0,2,6,34,11.04,19.9,0.95,1,0.95,0,0,0,0,1.877,0,34,1,716.9684,834.2398,0,0.5826,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,0,1,7,35,9.42,17.2,0.95,1,0.95,0,0,0,0,1.9264,0,35,1,858.7338,942.8133,0,0.5797,0,0,0,0,1,0,0.95

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r2_a42,0,1,1,537,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,1,615.05,10.0485,4.362,,0,もう1台のロボット,ServingRobot02,0,5.65,自分で動き出した,18.8092,231.2592,18.8092,4.7,0,0,0.95,0,2.055;4.533,12.388;4.312,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,601.35,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,615.05,10.7707,4.39,,0,もう1台のロボット,ServingRobot01,0,3.5,自分で動き出した,234.0106,16.0017,16.0017,2.4,0,0,1.1,0,10.771;4.39,10.771;3.462,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,3,708.55,16.8515,5.8239,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.824,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,3,761.85,2.6119,4.5162,,0,もう1台のロボット,ServingRobot02,0,4.15,自分で動き出した,3.3874,275,3.3874,3.2,0,0,0.95,0,2.064;4.528,12.463;4.312,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,3,784.05,13.0917,4.4954,,0,スタッフとすれ違った,Staff02,0,0.7,自分で動き出した,275,275,275,0,0,0,0.7,0,12.225;4.317,15.3;4.95,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r2_a42,0,1,3,3,0,536.9124,536.9624,633.4888,ロボット,0.05,96.5264,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,3,2,2,0,567.9048,601.2967,718.5181,ロボット,33.3919,117.2214,0,0,0,1,0,1
fam_p1_s4_r2_a42,0,2,1,1,0,552.5586,601.2967,718.5181,ロボット,48.7381,117.2214,0,0,0,1,0,1
fam_p1_s4_r2_a42,0,4,1,1,0,708.4205,708.4705,792.4,ロボット,0.05,83.9295,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,5,3,3,0,716.9684,735.164,834.2398,ロボット,18.1956,99.0758,0,0,0,0,0,1
fam_p1_s4_r2_a42,0,6,2,2,0,858.7338,858.7838,942.8133,ロボット,0.05,84.0295,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,7,34,4,0,921.1186,921.1686,966.0576,ロボット,0.05,44.889,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p1_s4_r2_a42,0,614.0436,スタッフ:Staff02,1,ロボット1号機,12.3922,4.5382,,,1,1,1,1
fam_p1_s4_r2_a42,0,616.443,ロボット2号機,0,ロボット1号機,10.7707,4.39,,,1,5.4,1,1
fam_p1_s4_r2_a42,0,644.7361,スタッフ:Staff01,1,ロボット2号機,0.8,2.0335,,,0,47.6496,0,1
fam_p1_s4_r2_a42,0,712.1696,スタッフ:Staff01,1,ロボット1号機,12.8853,5.1837,,,1,4.25,1,1
fam_p1_s4_r2_a42,0,762.9072,ロボット2号機,0,ロボット1号機,3.157,4.32,,,0,5,1,1
fam_p1_s4_r2_a42,0,782.1525,スタッフ:Staff02,1,ロボット1号機,14.9,4.7708,,,0,1.85,1,1
fam_p1_s4_r2_a42,0,810.8955,スタッフ:Staff01,1,ロボット2号機,6.4605,3.6476,,,0,3.5,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r2_a42,0,1508.316,客,ドリンクバー,4,1.912,10.312,12.6045,4.1042,,60,移した
fam_p1_s4_r2_a42,0,1639.544,スタッフ,立ち往生を動かす,0,17.0704,2.6103,16.5585,2.5873,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1699.703,スタッフ,立ち往生を動かす,0,16.999,2.4518,16.5404,2.4017,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1759.861,スタッフ,立ち往生を動かす,0,16.9695,2.3281,16.5801,2.1827,,60.0494,移した
fam_p1_s4_r2_a42,0,1785.586,スタッフ,料理を運ぶ,5,15.3,5.95,18.0948,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1845.745,スタッフ,料理を運ぶ,5,15.3,5.95,18.1461,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1895.093,スタッフ,立ち往生を動かす,0,17.0291,2.5302,16.5188,2.5365,,60.0494,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r2_a42,0,1,4,1,4,56.4194,56.4194,119.8727,2471.569,2494.478,2590.171,2590.171,1.0576,0,Done
fam_p1_s4_r2_a42,0,2,3,0,0,95.8213,95.8213,161.6753,3625.609,3625.632,3933.332,3933.332,1.0976,0,Done
fam_p1_s4_r2_a42,0,3,4,3,4,103.0217,103.0217,172.2259,3027.749,3027.798,3130.899,3130.899,1.1534,0,Done
fam_p1_s4_r2_a42,0,4,2,0,0,334.1619,334.1619,408.2938,3904.237,3904.253,4266.024,4266.024,1.2355,0,Done
fam_p1_s4_r2_a42,0,5,1,35,2,424.5898,424.5898,499.5215,3385.25,3601.458,3843.144,3843.144,1.2489,0,Done
fam_p1_s4_r2_a42,0,6,4,0,0,434.8373,434.8373,504.9202,3301.795,4134.191,4445.52,4445.52,1.168,0,Done
fam_p1_s4_r2_a42,0,7,1,36,2,485.9749,485.9749,563.6059,2724.849,2724.853,2854.479,2854.479,1.2939,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r2_a42,0,977.7548,11.482,4.0613,,,スタッフ:Staff01,0,2,8.8155
fam_p1_s4_r2_a42,0,1759.861,16.9695,2.3281,,,スタッフ:Staff01,0,2,-13.0867
fam_p1_s4_r2_a42,0,1784.335,18.1811,2.55,,,スタッフ:Staff03,0,1,9.4571
fam_p1_s4_r2_a42,0,2015.361,17.0021,2.4609,,,スタッフ:Staff03,0,2,-20.5651
fam_p1_s4_r2_a42,0,2201.592,7.4425,4.0322,,,スタッフ:Staff01,0,1,9.3938
fam_p1_s4_r2_a42,0,2420.406,5.8,4.9958,A02,,スタッフ:Staff02,0,2,9.1715
fam_p1_s4_r2_a42,0,2507.09,11.5353,4.0039,,,スタッフ:Staff01,0,1,8.2623

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 23:06:28",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 23:21:46",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.8707, "dish_wait_p90": 6.634, "cold_share": 0.5973, "seat_wait_mean": 2.2596, "turn_mean": 4.5899, "robot_share": 0.7014, "robot_dishes": 155, "staff_dishes": 66, "requeued_dishes": 4, "late_staff_dishes": 66, "late_staff_share": 0.2986, "robot_first_wait_s": 120, "yields": 2438, "yields_by_robot": 62, "yields_by_staff": 2239, "yields_by_guest": 137, "yields_stepped_aside": 298, "yields_in_corner": 89, "yields_passed": 532, "yield_wait_s": 4683.596, "yield_wait_mean_s": 1.9211, "staff_yields": 2239, "staff_yield_wait_s": 2819.901, "staff_yield_mean_s": 1.2594, "staff_yield_share_of_staff_time": 0.0656, "staff_time_total_s": 42987.54, "corner_stops": 53, "corner_stop_s": 1178.589, "corner_stop_count_share": 0.1485, "corner_stop_time_share": 0.3043, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 87, "people_jams": 521, "robot_blocked_jams": 465, "robot_blocked_jam_share": 0.8925, "chair_pulls": 159, "robot_contacts": 79, "robot_yield_waits": 2383, "robot_yield_wait_s": 3285.53, "robot_yield_detours": 7, "register_crowd_max": 10, "register_crowd_mean": 2.376, "register_pay_count": 73, "register_pay_not_at_back": 1, "register_pay_off_spot": 18, "register_pay_offset_mean_m": 0.1951, "register_pay_offset_max_m": 10.9333, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 33, "drink_bar_gave_up": 8, "drink_bar_wait_mean": 0.7699, "drink_bar_wait_p90": 1.003, "gave_up": 63, "warped": 54, "table_freed": 34, "people_jam_total_s": 874.2451, "walkers_mean": 9.6537, "measured_minutes": 178.979},
  "site_metrics": {"entry_wait_mean": 3.9928, "full_wait_mean": 0.8286, "staff_wait_mean": 1.9111, "blocked_wait_mean": 1.431, "guide_wait_mean": 0.4801, "seat_wait_mean": 2.2596, "dish_wait_mean": 3.8707, "dish_wait_p90": 6.634, "cold_share": 0.5973, "turn_mean": 4.5899, "walk_km_per_staff": 2.7563, "staff_util": 0.7615, "robot_util": 0.6403, "robot_share": 0.7014, "rescues": 40, "pauses": 317, "groups": 87},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 178.979, "everyone_left": true, "aisle_deferrals": 28, "staff_first_yield": true, "robot_stuck_detours": 1796, "rescues_done": 39, "rescue_wait_s": 1440.105, "gave_up": 63, "warped": 54, "table_freed": 34},
  "site_result": {"dish_wait_mean": 1.0497, "dish_wait_p90": 2.1196, "cold_share": 0.0157, "seat_wait_mean": 1.191, "turn_mean": 3.9675, "walk_km_per_staff": 1.6822, "staff_util": 0.6219, "robot_util": 0.6062, "robot_share": 0.9898, "robot_bus_share": 0, "collects": 0, "rescues": 1.575, "pauses": 43.25, "fragile_robot": 42.05, "groups": 84.4, "entry_wait_mean": 1.5915, "blocked_wait_mean": 0.7992, "guide_wait_mean": 0.2173, "staff_wait_mean": 1.0166, "full_wait_mean": 0.3917},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p5_s4_r2_a42,0.95,normal,2,0,1,1,3,38.3101,72.3498,7.4,2,0.95;6.45,0,0,0,1,0.3044,1,3,0,,,0,0.5898,0,0,1,0,2,0,7.4
fam_p5_s4_r2_a42,0.95,normal,2,0,2,2,2,36.8551,70.0497,6.7,3,0.95;4.25;1.5,0,0,0,1,0.2015,1,2;1,0,,,0,0.5818,0,0,1,0,3,0,6.7
fam_p5_s4_r2_a42,0.95,normal,2,0,1,3,1,30.9903,58.5994,5.85,2,0.95;4.9,0,0,0,1,0.3,1,1,1,535.8627,633.2389,0,0.5875,0,0,1,0,2,0,5.85
fam_p5_s4_r2_a42,0.95,normal,2,0,2,4,3,40.5,73.6999,4.55,3,0.95;2.7;0.9,0,0,0,1,0.1242,1,3,2,567.5049;551.9088,720.2676;720.2676,0,0.5857,0,0,1,0,3,0,4.55
fam_p5_s4_r2_a42,0.95,normal,2,0,1,5,2,34.5602,59.0994,0.95,1,0.95,0,0,0,0,0.3665,0,2,1,707.7707,791.4003,0,0.5943,0,0,1,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,0,2,6,34,11.04,19.9,0.95,1,0.95,0,0,0,0,1.8748,0,34,1,715.9187,858.3839,0,0.5826,0,0,0,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,0,1,7,35,9.42,17.2,0.95,1,0.95,0,0,0,0,1.8655,0,35,1,858.3339,942.4634,0,0.5797,0,0,0,0,1,0,0.95

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p5_s4_r2_a42,0,1,1,535.95,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,1,613.9,9.9748,4.4422,,0,もう1台のロボット,ServingRobot02,0,6.45,自分で動き出した,10.7894,239.2553,10.7894,5.5,0,0,0.95,0,1.869;4.627,11.663;4.413,PathComplete,3,0.025
fam_p5_s4_r2_a42,0,2,2,600.25,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,2,2,613.9,10.6933,4.4889,,0,もう1台のロボット,ServingRobot01,0,4.25,自分で動き出した,243.8956,6.1157,6.1157,2.75,0,0,1.5,0,10.693;4.489,10.693;3.563,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,2,2,621.65,9.6325,3.8784,,0,人が立ち止まっていた,Staff02,0,1.5,自分で動き出した,183.6672,67.5228,67.5228,0.55,0,0,0.95,0,9.635;3.878,1.788;4.612,PathComplete,3,0.025
fam_p5_s4_r2_a42,0,1,3,707.9,16.8547,5.8278,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.855;5.828,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,3,773.5,9.8795,4.4437,,0,もう1台のロボット,ServingRobot02,0,4.9,自分で動き出した,10.6361,239.4083,10.6361,3.95,0,0,0.95,0,1.904;4.603,11.663;4.413,PathComplete,3,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r2_a42,0,1,3,3,0,535.8627,535.9127,633.2389,ロボット,0.05,97.3262,0,0,0,0,0,0
fam_p5_s4_r2_a42,0,3,2,2,0,567.5049,600.197,720.2676,ロボット,32.692,120.0707,0,0,0,1,0,1
fam_p5_s4_r2_a42,0,2,1,1,0,551.9088,600.197,720.2676,ロボット,48.2882,120.0707,0,0,0,1,0,1
fam_p5_s4_r2_a42,0,4,1,1,0,707.7707,707.8207,791.4003,ロボット,0.05,83.5796,0,0,0,0,0,0
fam_p5_s4_r2_a42,0,5,3,3,0,715.9187,759.708,858.3839,ロボット,43.7893,98.6759,0,0,0,1,0,1
fam_p5_s4_r2_a42,0,6,2,2,0,858.3339,858.3839,942.4634,ロボット,0.05,84.0795,0,0,0,0,0,0
fam_p5_s4_r2_a42,0,7,34,4,0,920.8187,920.8687,965.7577,ロボット,0.05,44.889,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p5_s4_r2_a42,0,613.4937,スタッフ:Staff02,1,ロボット1号機,12.1911,5.1843,,,1,0.4,1,1
fam_p5_s4_r2_a42,0,615.2933,ロボット2号機,0,ロボット1号機,10.6933,4.4889,,,1,6.25,1,1
fam_p5_s4_r2_a42,0,618.5425,スタッフ:Staff02,1,ロボット2号機,8.759,3.5983,,,0,3.1,1,1
fam_p5_s4_r2_a42,0,623.1414,スタッフ:Staff02,1,ロボット2号機,7.5374,3.5214,,,0,3.6,1,1
fam_p5_s4_r2_a42,0,644.4362,スタッフ:Staff01,1,ロボット2号機,0.8,2.0331,,,0,49.3495,0,1
fam_p5_s4_r2_a42,0,700.4725,スタッフ:Staff04,1,ロボット2号機,9.1349,4.1216,,,0,4.45,1,1
fam_p5_s4_r2_a42,0,712.3196,スタッフ:Staff01,1,ロボット1号機,12.3279,5.2423,,,1,4.35,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r2_a42,0,1563.219,スタッフ,立ち往生を動かす,0,19.9019,2.2985,19.4771,2.3085,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1623.328,スタッフ,立ち往生を動かす,0,19.8977,2.2552,19.4932,2.1399,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1796.647,スタッフ,立ち往生を動かす,0,19.9213,2.4013,19.4999,2.4872,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1856.756,スタッフ,立ち往生を動かす,0,19.9008,2.2896,19.4946,2.1223,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1870.319,スタッフ,料理を運ぶ,39,20.263,2.188,20.1262,1.5678,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1937.935,スタッフ,料理を運ぶ,39,20.263,2.188,20.117,1.5674,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,2256.696,客,ドリンクバー,4,1.763,10.312,6.7865,4.0686,,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r2_a42,0,1,4,1,4,56.4194,56.4194,119.2227,2888.754,2888.763,3076.746,3076.746,1.0467,0,Done
fam_p5_s4_r2_a42,0,2,3,2,4,95.8213,95.8213,161.2752,2967.573,2967.59,3179.346,3179.346,1.0909,0,Done
fam_p5_s4_r2_a42,0,3,4,3,4,103.0217,103.0217,171.1758,2427.404,2507.291,2670.199,2670.199,1.1359,0,Done
fam_p5_s4_r2_a42,0,4,2,34,2,334.1619,334.1619,407.9939,3286.517,3341.104,3535.844,3535.844,1.2305,0,Done
fam_p5_s4_r2_a42,0,5,1,35,2,424.5898,424.5898,499.2216,3273.117,3332.145,3433.945,3433.945,1.2439,0,Done
fam_p5_s4_r2_a42,0,6,4,4,4,434.8373,434.8373,504.5203,2756.216,2872.847,2975.247,2975.247,1.1614,0,Done
fam_p5_s4_r2_a42,0,7,1,36,2,485.9749,485.9749,563.106,4083.59,4083.628,4398.206,4398.206,1.2855,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p5_s4_r2_a42,0,2010.806,19.5334,1.8518,,,スタッフ:Staff04,0,2,8.487
fam_p5_s4_r2_a42,0,2194.686,9.3256,4.0694,,,客:Guest(Clone),1,2,8.9271
fam_p5_s4_r2_a42,0,2264.704,5.7451,4.2318,,,スタッフ:Staff04,0,1,9.6095
fam_p5_s4_r2_a42,0,2327.015,5.7959,4.2789,,,スタッフ:Staff04,0,1,9.3921
fam_p5_s4_r2_a42,0,2328.316,6.6218,4.1369,,,スタッフ:Staff01,0,2,9.5175
fam_p5_s4_r2_a42,0,2347.435,5.3065,4.0827,,,スタッフ:Staff01,0,1,9.4838
fam_p5_s4_r2_a42,0,2363.851,4.8412,4.5594,,,スタッフ:Staff01,0,1,8.743

{
  "run_name": "family_v0",
  "written_at": "2026-10-23 23:21:47",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:33:36",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 0.9608, "dish_wait_p90": 1.754, "cold_share": 0, "seat_wait_mean": 0.3244, "turn_mean": 6.0981, "robot_share": 0, "robot_dishes": 0, "staff_dishes": 196, "requeued_dishes": 0, "late_staff_dishes": 0, "late_staff_share": 0, "robot_first_wait_s": 120, "yields": 0, "yields_by_robot": 0, "yields_by_staff": 0, "yields_by_guest": 0, "yields_stepped_aside": 0, "yields_in_corner": 0, "yields_passed": 0, "yield_wait_s": 0, "yield_wait_mean_s": 0, "staff_yields": 0, "staff_yield_wait_s": 0, "staff_yield_mean_s": 0, "staff_yield_share_of_staff_time": 0, "staff_time_total_s": 43210.55, "corner_stops": 0, "corner_stop_s": 0, "corner_stop_count_share": 0, "corner_stop_time_share": 0, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 81, "people_jams": 72, "robot_blocked_jams": 0, "robot_blocked_jam_share": 0, "chair_pulls": 167, "robot_contacts": 0, "robot_yield_waits": 0, "robot_yield_wait_s": 0, "robot_yield_detours": 0, "register_crowd_max": 9, "register_crowd_mean": 2.2788, "register_pay_count": 79, "register_pay_not_at_back": 0, "register_pay_off_spot": 24, "register_pay_offset_mean_m": 0.0656, "register_pay_offset_max_m": 0.2957, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 30, "drink_bar_gave_up": 10, "drink_bar_wait_mean": 0.6527, "drink_bar_wait_p90": 0.9745, "gave_up": 10, "warped": 11, "table_freed": 22, "people_jam_total_s": 75.2, "walkers_mean": 8.5354, "measured_minutes": 179.9344},
  "site_metrics": {"entry_wait_mean": 1.9311, "full_wait_mean": 0, "staff_wait_mean": 0.7289, "blocked_wait_mean": 0.3244, "guide_wait_mean": 0.4045, "seat_wait_mean": 0.3244, "dish_wait_mean": 0.9608, "dish_wait_p90": 1.754, "cold_share": 0, "turn_mean": 6.0981, "walk_km_per_staff": 3.0918, "staff_util": 0.742, "robot_util": 0, "robot_share": 0, "rescues": 0, "pauses": 0, "groups": 81},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r0_a42", "arrivals_minutes": 120, "total_minutes": 179.9344, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 0, "rescue_wait_s": 0, "gave_up": 10, "warped": 11, "table_freed": 22},
  "site_result": {"dish_wait_mean": 0.653, "dish_wait_p90": 1.3663, "cold_share": 0.0004, "seat_wait_mean": 2.602, "turn_mean": 9.4605, "walk_km_per_staff": 2.7655, "staff_util": 0.7511, "robot_util": 0, "robot_share": 0, "robot_bus_share": 0, "collects": 0, "rescues": 0, "pauses": 0, "fragile_robot": 0, "groups": 84.2, "entry_wait_mean": 3.1814, "blocked_wait_mean": 2.4548, "guide_wait_mean": 0.3997, "staff_wait_mean": 2.8545, "full_wait_mean": 0.1472},

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r0_a42,0,1,3,3,0,536.9124,536.9124,567.205,スタッフ,0,30.2926,0,0,1,0,0,0
fam_p1_s4_r0_a42,0,2,1,1,0,552.5586,552.5586,579.602,スタッフ,0,27.0434,0,0,1,0,0,0
fam_p1_s4_r0_a42,0,3,2,2,0,567.9048,567.9048,597.1977,スタッフ,0,29.2929,0,0,1,0,0,0
fam_p1_s4_r0_a42,0,4,1,1,0,708.4205,708.4205,736.1138,スタッフ,0,27.6932,0,0,1,0,0,0
fam_p1_s4_r0_a42,0,5,3,3,0,716.9684,716.9684,750.6102,スタッフ,0,33.6418,0,0,1,0,0,0
fam_p1_s4_r0_a42,0,6,2,2,0,858.7338,858.7338,887.7767,スタッフ,0,29.0429,0,0,1,0,0,0
fam_p1_s4_r0_a42,0,7,34,4,0,921.1186,921.1186,937.5146,スタッフ,0,16.396,0,0,1,0,0,0

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r0_a42,0,1914.262,客,ドリンクバー,3,1.912,8.462,1.9849,6.769,A01,60,移した
fam_p1_s4_r0_a42,0,2089.783,客,ドリンクバー,8,1.912,10.513,2.2083,4.6917,A01,60,移した
fam_p1_s4_r0_a42,0,2330.568,客,ドリンクバー,4,1.912,10.312,1.925,9.8899,A01,60,移した
fam_p1_s4_r0_a42,0,2932.856,客,ドリンクバー,4,1.912,10.312,1.9606,8.6521,A01,60,移した
fam_p1_s4_r0_a42,0,3106.225,客,ドリンクバー,8,1.912,10.513,2.15,8.2416,A01,60,移した
fam_p1_s4_r0_a42,0,3185.602,客,ドリンクバー,8,1.912,10.513,1.9303,9.8449,A01,60,移した
fam_p1_s4_r0_a42,0,3374.737,客,ドリンクバー,7,18.8,3.9,1.912,8.662,A01,0,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r0_a42,0,1,4,1,4,56.4194,56.4194,119.8727,3330.868,3330.894,3433.244,3433.244,1.0576,0,Done
fam_p1_s4_r0_a42,0,2,3,2,4,95.8213,95.8213,161.6753,2456.797,2456.841,2570.452,2570.452,1.0976,0,Done
fam_p1_s4_r0_a42,0,3,4,3,4,103.0217,103.0217,172.2259,2847.964,2847.973,2950.623,2950.623,1.1534,0,Done
fam_p1_s4_r0_a42,0,4,2,34,2,334.1619,334.1619,408.2938,3433.448,3433.494,3626.683,3626.683,1.2355,0,Done
fam_p1_s4_r0_a42,0,5,1,35,2,424.5898,424.5898,499.5215,2885.23,2885.259,3053.724,3053.724,1.2489,0,Done
fam_p1_s4_r0_a42,0,6,4,4,4,434.8373,434.8373,504.9202,3519.001,3519.028,3807.059,3807.059,1.168,0,Done
fam_p1_s4_r0_a42,0,7,1,36,2,485.9749,485.9749,563.6059,2685.511,2685.514,2791.968,2791.968,1.2939,0,Done

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:33:36",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:42:08",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 0.8046, "dish_wait_p90": 1.4218, "cold_share": 0, "seat_wait_mean": 0.7186, "turn_mean": 4.1832, "robot_share": 0, "robot_dishes": 0, "staff_dishes": 200, "requeued_dishes": 0, "late_staff_dishes": 0, "late_staff_share": 0, "robot_first_wait_s": 120, "yields": 0, "yields_by_robot": 0, "yields_by_staff": 0, "yields_by_guest": 0, "yields_stepped_aside": 0, "yields_in_corner": 0, "yields_passed": 0, "yield_wait_s": 0, "yield_wait_mean_s": 0, "staff_yields": 0, "staff_yield_wait_s": 0, "staff_yield_mean_s": 0, "staff_yield_share_of_staff_time": 0, "staff_time_total_s": 41220.02, "corner_stops": 0, "corner_stop_s": 0, "corner_stop_count_share": 0, "corner_stop_time_share": 0, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 80, "people_jams": 21, "robot_blocked_jams": 0, "robot_blocked_jam_share": 0, "chair_pulls": 156, "robot_contacts": 0, "robot_yield_waits": 0, "robot_yield_wait_s": 0, "robot_yield_detours": 0, "register_crowd_max": 9, "register_crowd_mean": 2.4119, "register_pay_count": 75, "register_pay_not_at_back": 0, "register_pay_off_spot": 13, "register_pay_offset_mean_m": 0.0368, "register_pay_offset_max_m": 0.2723, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 27, "drink_bar_gave_up": 9, "drink_bar_wait_mean": 0.7375, "drink_bar_wait_p90": 0.996, "gave_up": 9, "warped": 11, "table_freed": 22, "people_jam_total_s": 22.05, "walkers_mean": 8.9458, "measured_minutes": 171.637},
  "site_metrics": {"entry_wait_mean": 2.2816, "full_wait_mean": 0, "staff_wait_mean": 1.0721, "blocked_wait_mean": 0.7186, "guide_wait_mean": 0.3535, "seat_wait_mean": 0.7186, "dish_wait_mean": 0.8046, "dish_wait_p90": 1.4218, "cold_share": 0, "turn_mean": 4.1832, "walk_km_per_staff": 3.1089, "staff_util": 0.758, "robot_util": 0, "robot_share": 0, "rescues": 0, "pauses": 0, "groups": 80},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r0_a42", "arrivals_minutes": 120, "total_minutes": 171.637, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 0, "rescue_wait_s": 0, "gave_up": 9, "warped": 11, "table_freed": 22},
  "site_result": {"dish_wait_mean": 0.653, "dish_wait_p90": 1.3663, "cold_share": 0.0004, "seat_wait_mean": 2.602, "turn_mean": 9.4605, "walk_km_per_staff": 2.7655, "staff_util": 0.7511, "robot_util": 0, "robot_share": 0, "robot_bus_share": 0, "collects": 0, "rescues": 0, "pauses": 0, "fragile_robot": 0, "groups": 84.2, "entry_wait_mean": 3.1814, "blocked_wait_mean": 2.4548, "guide_wait_mean": 0.3997, "staff_wait_mean": 2.8545, "full_wait_mean": 0.1472},

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r0_a42,1,1,34,1,0,571.9539,571.9539,588.3499,スタッフ,0,16.396,0,0,1,0,0,0
fam_p1_s4_r0_a42,1,2,35,2,0,806.0467,806.0467,823.4924,スタッフ,0,17.4457,0,0,1,0,0,0
fam_p1_s4_r0_a42,1,3,36,3,0,860.5334,860.5334,877.6292,スタッフ,0,17.0958,0,0,1,0,0,0
fam_p1_s4_r0_a42,1,4,35,2,0,878.2291,878.2291,895.7748,スタッフ,0,17.5457,0,0,1,0,0,0
fam_p1_s4_r0_a42,1,6,37,5,0,940.014,940.014,959.3093,スタッフ,0,19.2953,0,0,1,0,0,0
fam_p1_s4_r0_a42,1,5,1,4,0,938.5643,938.5643,969.6567,スタッフ,0,31.0924,0,0,1,0,0,0
fam_p1_s4_r0_a42,1,7,36,3,0,991.3015,991.3015,1007.797,スタッフ,0,16.496,0,0,1,0,0,0

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r0_a42,1,2525.809,客,ドリンクバー,4,1.912,10.312,2.0363,8.635,A01,60,移した
fam_p1_s4_r0_a42,1,2661.191,客,トイレ,38,19.162,2.188,18.834,2.2238,,60,移した
fam_p1_s4_r0_a42,1,3059.88,客,ドリンクバー,2,18.8,3.9,1.912,6.613,A01,0,あきらめた
fam_p1_s4_r0_a42,1,3306.72,客,ドリンクバー,4,18.8,3.9,1.912,10.312,A01,0,あきらめた
fam_p1_s4_r0_a42,1,3322.085,客,ドリンクバー,12,18.8,3.9,5.613,10.513,A02,0,あきらめた
fam_p1_s4_r0_a42,1,3418.88,客,ドリンクバー,11,18.8,3.9,5.613,8.662,A02,0,あきらめた
fam_p1_s4_r0_a42,1,3438.049,客,ドリンクバー,18,18.8,3.9,9.312,4.962,A03,0,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r0_a42,1,1,1,34,2,43.2696,43.2696,117.2726,2529.06,2529.062,2637.117,2637.117,1.2334,0,Done
fam_p1_s4_r0_a42,1,2,2,35,2,175.5261,175.5261,250.9807,2734.01,2734.012,2853.328,2853.328,1.2576,0,Done
fam_p1_s4_r0_a42,1,3,2,36,2,194.3773,194.3773,271.4272,3229.127,3229.145,3334.448,3334.448,1.2842,0,Done
fam_p1_s4_r0_a42,1,4,3,1,4,396.7966,396.7966,460.781,3440.945,3489.399,3617.824,3617.824,1.0664,0,Done
fam_p1_s4_r0_a42,1,5,1,37,2,437.2867,437.2867,519.0668,3360.211,3360.223,3514.823,3514.823,1.363,0,Done
fam_p1_s4_r0_a42,1,6,4,2,4,704.7714,704.7714,769.2057,3769.007,3769.021,4007.905,4007.905,1.0739,0,Done
fam_p1_s4_r0_a42,1,7,2,38,2,724.3167,724.3167,806.2466,3770.057,3770.073,4103.461,4103.461,1.3655,0,Done

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:42:08",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:51:31",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 0.913, "dish_wait_p90": 1.6519, "cold_share": 0, "seat_wait_mean": 2.3212, "turn_mean": 4.7928, "robot_share": 0, "robot_dishes": 0, "staff_dishes": 214, "requeued_dishes": 0, "late_staff_dishes": 0, "late_staff_share": 0, "robot_first_wait_s": 120, "yields": 0, "yields_by_robot": 0, "yields_by_staff": 0, "yields_by_guest": 0, "yields_stepped_aside": 0, "yields_in_corner": 0, "yields_passed": 0, "yield_wait_s": 0, "yield_wait_mean_s": 0, "staff_yields": 0, "staff_yield_wait_s": 0, "staff_yield_mean_s": 0, "staff_yield_share_of_staff_time": 0, "staff_time_total_s": 43677, "corner_stops": 0, "corner_stop_s": 0, "corner_stop_count_share": 0, "corner_stop_time_share": 0, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 86, "people_jams": 48, "robot_blocked_jams": 0, "robot_blocked_jam_share": 0, "chair_pulls": 192, "robot_contacts": 0, "robot_yield_waits": 0, "robot_yield_wait_s": 0, "robot_yield_detours": 0, "register_crowd_max": 9, "register_crowd_mean": 2.5443, "register_pay_count": 83, "register_pay_not_at_back": 0, "register_pay_off_spot": 17, "register_pay_offset_mean_m": 0.0439, "register_pay_offset_max_m": 0.2975, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 33, "drink_bar_gave_up": 7, "drink_bar_wait_mean": 0.6204, "drink_bar_wait_p90": 0.8914, "gave_up": 7, "warped": 14, "table_freed": 22, "people_jam_total_s": 50, "walkers_mean": 9.549, "measured_minutes": 181.8777},
  "site_metrics": {"entry_wait_mean": 3.9575, "full_wait_mean": 0.6124, "staff_wait_mean": 2.1577, "blocked_wait_mean": 1.7088, "guide_wait_mean": 0.4489, "seat_wait_mean": 2.3212, "dish_wait_mean": 0.913, "dish_wait_p90": 1.6519, "cold_share": 0, "turn_mean": 4.7928, "walk_km_per_staff": 3.2595, "staff_util": 0.7676, "robot_util": 0, "robot_share": 0, "rescues": 0, "pauses": 0, "groups": 86},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r0_a42", "arrivals_minutes": 120, "total_minutes": 181.8777, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 0, "rescue_wait_s": 0, "gave_up": 7, "warped": 14, "table_freed": 22},
  "site_result": {"dish_wait_mean": 0.653, "dish_wait_p90": 1.3663, "cold_share": 0.0004, "seat_wait_mean": 2.602, "turn_mean": 9.4605, "walk_km_per_staff": 2.7655, "staff_util": 0.7511, "robot_util": 0, "robot_share": 0, "robot_bus_share": 0, "collects": 0, "rescues": 0, "pauses": 0, "fragile_robot": 0, "groups": 84.2, "entry_wait_mean": 3.1814, "blocked_wait_mean": 2.4548, "guide_wait_mean": 0.3997, "staff_wait_mean": 2.8545, "full_wait_mean": 0.1472},

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r0_a42,2,1,34,1,0,458.9315,458.9315,475.0775,スタッフ,0,16.1461,0,0,1,0,0,0
fam_p1_s4_r0_a42,2,2,35,2,0,582.0014,582.0014,598.1475,スタッフ,0,16.1461,0,0,1,0,0,0
fam_p1_s4_r0_a42,2,3,1,4,0,619.0424,619.0424,645.5359,スタッフ,0,26.4935,0,0,1,0,0,0
fam_p1_s4_r0_a42,2,4,36,3,0,679.6276,679.6276,696.1235,スタッフ,0,16.496,0,0,1,0,0,0
fam_p1_s4_r0_a42,2,5,38,6,0,729.6154,729.6154,748.2108,スタッフ,0,18.5955,0,0,1,0,0,0
fam_p1_s4_r0_a42,2,6,34,1,0,771.3052,771.3052,787.4512,スタッフ,0,16.1461,0,0,1,0,0,0
fam_p1_s4_r0_a42,2,7,39,7,0,829.6409,829.6409,849.3361,スタッフ,0,19.6952,0,0,1,0,0,0

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r0_a42,2,3152.27,客,ドリンクバー,4,1.912,10.312,1.9774,7.6011,A01,60,移した
fam_p1_s4_r0_a42,2,3351.814,客,ドリンクバー,7,1.912,8.662,2.15,8.1742,A01,60,移した
fam_p1_s4_r0_a42,2,3650.906,客,ドリンクバー,7,1.912,8.662,2.15,6.4565,A01,60,移した
fam_p1_s4_r0_a42,2,3801.203,客,ドリンクバー,12,18.8,3.9,5.613,10.513,A02,0,あきらめた
fam_p1_s4_r0_a42,2,3848.549,客,ドリンクバー,8,1.912,10.513,1.9526,9.0478,A01,60,移した
fam_p1_s4_r0_a42,2,3863.814,客,ドリンクバー,4,1.912,10.312,2.15,6.4951,A01,60,移した
fam_p1_s4_r0_a42,2,4059.905,客,ドリンクバー,8,1.912,10.513,2.0043,7.1328,A01,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r0_a42,2,1,2,34,2,31.8198,31.8198,106.8719,2266.212,2266.255,2378.515,2378.515,1.2509,0,Done
fam_p1_s4_r0_a42,2,2,1,35,2,51.4195,51.4195,128.6232,2649.795,2649.83,2781.058,2781.058,1.2867,0,Done
fam_p1_s4_r0_a42,2,3,2,36,2,80.4203,80.4203,159.2251,3226.006,3226.042,3404.666,3404.666,1.3134,0,Done
fam_p1_s4_r0_a42,2,4,4,1,4,171.0758,171.0758,234.9797,2721.443,2721.449,2871.246,2871.246,1.0651,0,Done
fam_p1_s4_r0_a42,2,5,1,37,2,180.2264,180.2264,258.8303,3344.757,3344.758,3494.854,3494.854,1.3101,0,Done
fam_p1_s4_r0_a42,2,6,1,38,2,237.2799,237.2799,305.369,2568.866,2568.901,2670.099,2670.099,1.1348,0,Done
fam_p1_s4_r0_a42,2,7,2,39,2,252.6808,252.6808,333.762,2789.895,2789.916,2961.434,2961.434,1.3514,0,Done

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:51:31",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:01:18",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.8528, "dish_wait_p90": 5.8184, "cold_share": 0.6376, "seat_wait_mean": 1.8187, "turn_mean": 4.6242, "robot_share": 0.5688, "robot_dishes": 124, "staff_dishes": 94, "requeued_dishes": 1, "late_staff_dishes": 94, "late_staff_share": 0.4312, "robot_first_wait_s": 120, "yields": 1275, "yields_by_robot": 0, "yields_by_staff": 1012, "yields_by_guest": 263, "yields_stepped_aside": 134, "yields_in_corner": 31, "yields_passed": 476, "yield_wait_s": 2868.624, "yield_wait_mean_s": 2.2499, "staff_yields": 1012, "staff_yield_wait_s": 2040.176, "staff_yield_mean_s": 2.016, "staff_yield_share_of_staff_time": 0.0446, "staff_time_total_s": 45746.27, "corner_stops": 20, "corner_stop_s": 35.4, "corner_stop_count_share": 0.1042, "corner_stop_time_share": 0.0157, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 88, "people_jams": 754, "robot_blocked_jams": 738, "robot_blocked_jam_share": 0.9788, "chair_pulls": 154, "robot_contacts": 71, "robot_yield_waits": 1270, "robot_yield_wait_s": 2804.16, "robot_yield_detours": 15, "register_crowd_max": 9, "register_crowd_mean": 2.5227, "register_pay_count": 84, "register_pay_not_at_back": 2, "register_pay_off_spot": 19, "register_pay_offset_mean_m": 0.2316, "register_pay_offset_max_m": 10.5065, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 40, "drink_bar_gave_up": 10, "drink_bar_wait_mean": 0.621, "drink_bar_wait_p90": 0.9965, "gave_up": 58, "warped": 43, "table_freed": 23, "people_jam_total_s": 1139.849, "walkers_mean": 9.6269, "measured_minutes": 190.4947},
  "site_metrics": {"entry_wait_mean": 3.5292, "full_wait_mean": 0.6447, "staff_wait_mean": 1.6372, "blocked_wait_mean": 1.174, "guide_wait_mean": 0.4632, "seat_wait_mean": 1.8187, "dish_wait_mean": 3.8528, "dish_wait_p90": 5.8184, "cold_share": 0.6376, "turn_mean": 4.6242, "walk_km_per_staff": 2.7416, "staff_util": 0.7286, "robot_util": 0.7901, "robot_share": 0.5688, "rescues": 20, "pauses": 172, "groups": 88},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r1_a42", "arrivals_minutes": 120, "total_minutes": 190.4947, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 683, "rescues_done": 20, "rescue_wait_s": 469.6485, "gave_up": 58, "warped": 43, "table_freed": 23},
  "site_result": {"dish_wait_mean": 2.0398, "dish_wait_p90": 3.0695, "cold_share": 0.1266, "seat_wait_mean": 1.2236, "turn_mean": 4.1041, "walk_km_per_staff": 1.8926, "staff_util": 0.6456, "robot_util": 0.7497, "robot_share": 0.7252, "robot_bus_share": 0, "collects": 0, "rescues": 0.925, "pauses": 20.25, "fragile_robot": 30.4, "groups": 82.55, "entry_wait_mean": 1.6401, "blocked_wait_mean": 0.9494, "guide_wait_mean": 0.2395, "staff_wait_mean": 1.189, "full_wait_mean": 0.2742},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r1_a42,1.2,normal,1,0,1,1,3,38.3101,65.3494,0.95,1,0.95,0,0,0,0,0.3641,0,3,0,,,0,0.5949,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,0,1,2,2,34.5452,61.9493,3,2,0.95;2.05,0,0,0,1,-0.0009,0,2;1,1,536.9124,627.2903,0,0.586,0,0,0,0,2,0,3
fam_p1_s4_r1_a42,1.2,normal,1,0,1,3,1,38.2351,65.4994,0.95,1,0.95,0,0,0,0,1.6567,0,1;3,2,567.9048;552.5586,739.313;739.313,0,0.5923,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,0,1,4,2,34.5302,59.0494,0.95,1,0.95,0,0,0,0,0.4102,0,2,2,708.4205;716.9684,854.8848;854.8848,0,0.5943,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,0,1,5,34,9.975,18.4,0.95,1,0.95,0,0,0,0,1.8644,0,34;35,1,858.7338,942.8133,0,0.5716,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,0,1,6,4,41.9099,129.9033,58.9494,2,0.95;57.9994,0,0,0,1,0.0844,0,4,2,921.1186;934.3654,1011.297;1011.297,0,0.5907,0,0,0,0,2,0,58.9494
fam_p1_s4_r1_a42,1.2,normal,1,0,1,7,38,40.455,70.1997,1.4,2,0.95;0.45,0,0,0,1,0.7915,0,38;5,1,965.0079,1166.382,0,0.588,0,0,0,0,2,0,1.4

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r1_a42,0,1,1,537,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,0,1,2,627.4,16.8515,5.8239,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.824,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,0,1,2,654.45,2.0533,4.6236,A01,0,人が立ち止まっていた,Staff01,0,2.05,自分で動き出した,180.8515,223.9753,180.8515,1.1,0,0,0.95,0,2.058;4.554,1.912;6.613,PathComplete,2,0.025
fam_p1_s4_r1_a42,0,1,3,739.45,16.8527,5.825,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.853;5.825,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,0,1,4,858.9,16.8527,5.8249,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.853;5.825,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,0,1,5,943,16.8518,5.8242,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.824,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,0,1,6,1011.5,16.8532,5.8241,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.853;5.824,15.3;5.95,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r1_a42,0,1,3,3,0,536.9124,536.9624,627.2903,ロボット,0.05,90.3279,0,0,0,0,0,0
fam_p1_s4_r1_a42,0,3,2,2,0,567.9048,627.3403,739.313,ロボット,59.4355,111.9727,0,0,0,1,0,0
fam_p1_s4_r1_a42,0,2,1,1,0,552.5586,627.3403,739.313,ロボット,74.7817,111.9727,0,0,0,1,0,0
fam_p1_s4_r1_a42,0,4,1,1,0,708.4205,739.363,854.8848,ロボット,30.9424,115.5218,0,0,0,1,0,0
fam_p1_s4_r1_a42,0,5,3,3,0,716.9684,739.363,854.8848,ロボット,22.3945,115.5218,0,0,0,1,0,0
fam_p1_s4_r1_a42,0,6,2,2,0,858.7338,858.7838,942.8133,ロボット,0.05,84.0295,0,0,0,0,0,0
fam_p1_s4_r1_a42,0,7,34,4,0,921.1186,942.8633,1011.297,ロボット,21.7447,68.4333,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p1_s4_r1_a42,0,613.9936,スタッフ:Staff02,1,ロボット1号機,12.3403,4.5136,,,1,4.5,1,1
fam_p1_s4_r1_a42,0,649.4849,スタッフ:Staff01,1,ロボット1号機,2.1298,4.8845,A01,,0,4.95,1,1
fam_p1_s4_r1_a42,0,654.4837,スタッフ:Staff01,1,ロボット1号機,2.15,5.0631,A01,,0,2.5,0,1
fam_p1_s4_r1_a42,0,657.0331,スタッフ:Staff01,1,ロボット1号機,2.15,7.2881,A01,,0,0.65,0,1
fam_p1_s4_r1_a42,0,658.8826,スタッフ:Staff01,1,ロボット1号機,2.145,7.8165,A01,,0,1.8,0,1
fam_p1_s4_r1_a42,0,662.3318,スタッフ:Staff01,1,ロボット1号機,2.1249,8.2826,A01,,0,1.35,0,1
fam_p1_s4_r1_a42,0,665.3311,スタッフ:Staff01,1,ロボット1号機,2.1191,8.2967,A01,,0,1.35,0,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r1_a42,0,1092.36,客,ドリンクバー,2,17.3,3.9,2.5777,4.539,,60,あきらめた
fam_p1_s4_r1_a42,0,1123.891,客,ドリンクバー,1,1.912,4.762,5.5917,4.4824,,60,移した
fam_p1_s4_r1_a42,0,1416.827,客,ドリンクバー,1,1.912,4.762,4.4341,4.474,,60,移した
fam_p1_s4_r1_a42,0,1516.124,スタッフ,料理を運ぶ,38,15.3,5.95,17.4767,2.55,,60.0494,あきらめた
fam_p1_s4_r1_a42,0,1576.282,スタッフ,案内,18,0.9,2.1,17.4767,2.55,,60.0494,あきらめた
fam_p1_s4_r1_a42,0,1636.441,スタッフ,案内,18,0.9,2.1,17.4767,2.55,,60.0494,あきらめた
fam_p1_s4_r1_a42,0,1687.09,スタッフ,料理を運ぶ,39,20.263,2.188,16.3625,2.9246,,60.0494,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r1_a42,0,1,4,1,4,56.4194,56.4194,119.8727,2334.03,2397.083,2496.73,2496.73,1.0576,0,Done
fam_p1_s4_r1_a42,0,2,3,2,4,95.8213,95.8213,161.6753,2430.474,2430.516,2599.03,2599.03,1.0976,0,Done
fam_p1_s4_r1_a42,0,3,4,3,4,103.0217,103.0217,172.2259,3048.394,3048.418,3149.617,3149.617,1.1534,0,Done
fam_p1_s4_r1_a42,0,4,2,34,2,334.1619,334.1619,408.2938,3329.361,3329.393,3430.591,3430.591,1.2355,0,Done
fam_p1_s4_r1_a42,0,5,1,35,2,424.5898,424.5898,499.5215,4009.05,4009.056,4324.594,4324.594,1.2489,0,Done
fam_p1_s4_r1_a42,0,6,4,4,4,434.8373,434.8373,504.9202,3680.622,3680.635,3938.437,3938.437,1.168,0,Done
fam_p1_s4_r1_a42,0,7,1,36,2,485.9749,485.9749,563.6059,4072.582,4072.618,4426.993,4426.993,1.2939,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r1_a42,0,653.6839,2.15,4.9642,A01,,スタッフ:Staff01,0,1,8.8161
fam_p1_s4_r1_a42,0,1162.679,15.5348,4.4083,,,スタッフ:Staff04,0,1,9.8066
fam_p1_s4_r1_a42,0,1830.931,18.2695,2.55,,,スタッフ:Staff04,0,1,9.9692
fam_p1_s4_r1_a42,0,1947.294,18.2675,2.55,,,スタッフ:Staff01,0,1,9.8182
fam_p1_s4_r1_a42,0,1965.762,18.1502,2.55,,,スタッフ:Staff01,0,1,1.1959
fam_p1_s4_r1_a42,0,2041.036,18.1682,2.55,,,スタッフ:Staff01,0,1,2.427
fam_p1_s4_r1_a42,0,2100.894,16.7427,2.2146,,,スタッフ:Staff04,0,1,8.6735

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:01:19",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:10:21",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.1393, "dish_wait_p90": 4.6728, "cold_share": 0.5056, "seat_wait_mean": 0, "turn_mean": 2.8174, "robot_share": 0.75, "robot_dishes": 135, "staff_dishes": 45, "requeued_dishes": 0, "late_staff_dishes": 45, "late_staff_share": 0.25, "robot_first_wait_s": 120, "yields": 558, "yields_by_robot": 0, "yields_by_staff": 374, "yields_by_guest": 184, "yields_stepped_aside": 218, "yields_in_corner": 72, "yields_passed": 483, "yield_wait_s": 2164.794, "yield_wait_mean_s": 3.8796, "staff_yields": 374, "staff_yield_wait_s": 1613.794, "staff_yield_mean_s": 4.315, "staff_yield_share_of_staff_time": 0.0375, "staff_time_total_s": 42980.66, "corner_stops": 30, "corner_stop_s": 289.8475, "corner_stop_count_share": 0.1546, "corner_stop_time_share": 0.2593, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 73, "people_jams": 363, "robot_blocked_jams": 344, "robot_blocked_jam_share": 0.9477, "chair_pulls": 180, "robot_contacts": 60, "robot_yield_waits": 561, "robot_yield_wait_s": 2162.584, "robot_yield_detours": 6, "register_crowd_max": 10, "register_crowd_mean": 2.1091, "register_pay_count": 71, "register_pay_not_at_back": 1, "register_pay_off_spot": 8, "register_pay_offset_mean_m": 0.1322, "register_pay_offset_max_m": 7.5505, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 20, "drink_bar_gave_up": 4, "drink_bar_wait_mean": 0.6609, "drink_bar_wait_p90": 0.9969, "gave_up": 37, "warped": 37, "table_freed": 6, "people_jam_total_s": 631.1496, "walkers_mean": 8.2257, "measured_minutes": 179.0147},
  "site_metrics": {"entry_wait_mean": 1.5759, "full_wait_mean": 0, "staff_wait_mean": 0.3513, "blocked_wait_mean": 0, "guide_wait_mean": 0.3513, "seat_wait_mean": 0, "dish_wait_mean": 3.1393, "dish_wait_p90": 4.6728, "cold_share": 0.5056, "turn_mean": 2.8174, "walk_km_per_staff": 2.5104, "staff_util": 0.6575, "robot_util": 0.7625, "robot_share": 0.75, "rescues": 5, "pauses": 189, "groups": 73},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r1_a42", "arrivals_minutes": 120, "total_minutes": 179.0147, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 5, "rescue_wait_s": 146.9505, "gave_up": 37, "warped": 37, "table_freed": 6},
  "site_result": {"dish_wait_mean": 2.0398, "dish_wait_p90": 3.0695, "cold_share": 0.1266, "seat_wait_mean": 1.2236, "turn_mean": 4.1041, "walk_km_per_staff": 1.8926, "staff_util": 0.6456, "robot_util": 0.7497, "robot_share": 0.7252, "robot_bus_share": 0, "collects": 0, "rescues": 0.925, "pauses": 20.25, "fragile_robot": 30.4, "groups": 82.55, "entry_wait_mean": 1.6401, "blocked_wait_mean": 0.9494, "guide_wait_mean": 0.2395, "staff_wait_mean": 1.189, "full_wait_mean": 0.2742},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r1_a42,1.2,normal,1,1,1,1,34,9.48,17.3,0.95,1,0.95,0,0,0,0,1.6619,0,34,0,,,0,0.5798,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,1,1,2,35,9.42,17.2,0.95,1,0.95,0,0,0,0,0.3924,0,35,1,571.9539,614.2935,0,0.5797,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,1,1,3,36,10.32,18.7,0.95,1,0.95,0,0,0,0,1.8641,0,36,1,806.0467,848.2864,0,0.5814,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,1,1,4,35,9.48,17.3,0.95,1,0.95,0,0,0,0,2.2997,0,35,1,860.5334,904.2727,0,0.5798,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,1,1,5,37,37.9651,105.9019,41.2497,2,0.95;40.2997,0,0,0,1,0.0258,0,37;1,1,878.2291,946.6124,0,0.5872,0,0,0,0,2,0,41.2497
fam_p1_s4_r1_a42,1.2,normal,1,1,1,6,34,11.415,20.8,0.95,1,0.95,0,0,0,0,1.5299,0,34;36,2,940.014;938.5643,1102.67;1102.67,0,0.5751,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,1,1,7,38,14.61,29.0998,3.1,3,0.95;1.7;0.45,0,0,0,1,0.0453,0,38,2,1044.363;991.3015,1173.639;1173.639,0,0.5619,0,0,0,0,3,0,3.1

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r1_a42,1,1,1,572.05,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,1,1,2,806.2,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,1,1,3,860.7,16.851,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,1,1,4,904.45,16.8575,5.833,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.858;5.833,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,1,1,5,946.8,16.8509,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,1,1,5,984.95,17.362,2.2913,,0,人が立ち止まっていた,Staff02,0,40.2997,経路を引き直した,66.9469,26.3274,26.3274,39.3497,0,0,0.95,4,17.362;2.291,2.312;4.312,PathComplete,2,0.025
fam_p1_s4_r1_a42,1,1,6,1102.8,16.8549,5.8262,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.855;5.826,15.3;5.95,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r1_a42,1,1,34,1,0,571.9539,572.0038,614.2935,ロボット,0.05,42.2897,0,0,0,0,0,0
fam_p1_s4_r1_a42,1,2,35,2,0,806.0467,806.0967,848.2864,ロボット,0.05,42.1897,0,0,0,0,0,0
fam_p1_s4_r1_a42,1,3,36,3,0,860.5334,860.5834,904.2727,ロボット,0.05,43.6893,0,0,0,0,0,0
fam_p1_s4_r1_a42,1,4,35,2,0,878.2291,904.3227,946.6124,ロボット,26.0936,42.2897,0,0,0,0,0,0
fam_p1_s4_r1_a42,1,6,37,5,0,940.014,946.6624,1102.67,ロボット,6.6484,156.0078,0,0,0,1,0,0
fam_p1_s4_r1_a42,1,5,1,4,0,938.5643,946.6624,1102.67,ロボット,8.098,156.0078,0,0,0,1,0,0
fam_p1_s4_r1_a42,1,8,34,1,0,1044.363,1102.72,1173.639,ロボット,58.3569,70.9192,0,0,0,1,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p1_s4_r1_a42,1,810.0957,スタッフ:Staff02,1,ロボット1号機,16.2085,3.0065,,,0,4.55,1,1
fam_p1_s4_r1_a42,1,984.0532,スタッフ:Staff02,1,ロボット1号機,17.084,2.55,,,0,0.8,1,1
fam_p1_s4_r1_a42,1,1045.114,スタッフ:Staff01,1,ロボット1号機,2.9171,4.362,,,0,4.65,1,1
fam_p1_s4_r1_a42,1,1051.07,スタッフ:Staff03,1,ロボット1号機,1.1573,1.956,,,0,26.7499,0,1
fam_p1_s4_r1_a42,1,1243.608,スタッフ:Staff01,1,ロボット1号機,5.8029,4.4132,,,0,4.6,1,1
fam_p1_s4_r1_a42,1,1343.505,スタッフ:Staff01,1,ロボット1号機,17.0759,2.55,,,0,0.8,1,1
fam_p1_s4_r1_a42,1,1380.591,スタッフ:Staff01,1,ロボット1号機,15.8065,3.6427,,,0,2.15,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r1_a42,1,1023.294,スタッフ,案内,40,21.362,2.188,16.6678,2.5421,,60.0494,あきらめた
fam_p1_s4_r1_a42,1,1378.79,スタッフ,案内,41,22.463,2.188,16.6485,2.5508,,60.0494,あきらめた
fam_p1_s4_r1_a42,1,1747.299,客,ドリンクバー,39,17.3,3.9,20.1756,2.55,,60,あきらめた
fam_p1_s4_r1_a42,1,1913.461,スタッフ,呼び出し,39,20.263,2.188,18.0227,2.55,,60.0494,あきらめた
fam_p1_s4_r1_a42,1,1973.57,スタッフ,呼び出し,39,20.263,2.188,16.6774,2.5445,,60.0494,あきらめた
fam_p1_s4_r1_a42,1,2056.651,スタッフ,料理を運ぶ,4,15.3,5.95,14.0639,4.047,,60.0494,あきらめた
fam_p1_s4_r1_a42,1,2204.745,客,ドリンクバー,2,1.912,6.613,4.7272,4.2547,,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r1_a42,1,1,1,34,2,43.2696,43.2696,117.2726,3081.973,3082.001,3183.2,3183.2,1.2334,0,Done
fam_p1_s4_r1_a42,1,2,2,35,2,175.5261,175.5261,250.9807,2497.801,2497.831,2604.285,2604.285,1.2576,0,Done
fam_p1_s4_r1_a42,1,3,2,36,2,194.3773,194.3773,271.4272,2642.17,2642.172,2745.973,2745.973,1.2842,0,Done
fam_p1_s4_r1_a42,1,4,3,1,4,396.7966,396.7966,460.781,3148.814,3148.816,3284.899,3284.899,1.0664,0,Done
fam_p1_s4_r1_a42,1,5,1,37,2,437.2867,437.2867,519.0668,3616.308,3616.323,3771.124,3771.124,1.363,0,Done
fam_p1_s4_r1_a42,1,6,4,2,4,704.7714,704.7714,769.4556,3291.293,3291.305,3394.256,3394.256,1.0781,0,Done
fam_p1_s4_r1_a42,1,7,2,38,2,724.3167,724.3167,806.1967,3566.821,3566.824,3669.775,3669.775,1.3647,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r1_a42,1,984.2032,17.1036,2.55,,,スタッフ:Staff02,0,1,8.3826
fam_p1_s4_r1_a42,1,1181.497,16.5,3.5211,,,客:Guest(Clone),0,1,9.5973
fam_p1_s4_r1_a42,1,1343.605,17.1,2.55,,,スタッフ:Staff01,0,1,9.458
fam_p1_s4_r1_a42,1,1382.543,15.9927,2.741,,,スタッフ:Staff01,0,1,9.1227
fam_p1_s4_r1_a42,1,1918.616,17.3817,1.7477,,,スタッフ:Staff01,0,1,9.156
fam_p1_s4_r1_a42,1,2002.198,1.7987,5.2369,A01,,スタッフ:Staff04,0,1,8.8518
fam_p1_s4_r1_a42,1,2061.305,16.4397,5.57,,,スタッフ:Staff01,0,1,9.4921

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:10:22",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:19:32",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.8241, "dish_wait_p90": 5.9361, "cold_share": 0.6262, "seat_wait_mean": 4.3351, "turn_mean": 4.9603, "robot_share": 0.5935, "robot_dishes": 127, "staff_dishes": 87, "requeued_dishes": 3, "late_staff_dishes": 87, "late_staff_share": 0.4065, "robot_first_wait_s": 120, "yields": 304, "yields_by_robot": 0, "yields_by_staff": 225, "yields_by_guest": 79, "yields_stepped_aside": 151, "yields_in_corner": 36, "yields_passed": 266, "yield_wait_s": 1260.996, "yield_wait_mean_s": 4.148, "staff_yields": 225, "staff_yield_wait_s": 979.8459, "staff_yield_mean_s": 4.3549, "staff_yield_share_of_staff_time": 0.0226, "staff_time_total_s": 43302.45, "corner_stops": 23, "corner_stop_s": 200.6982, "corner_stop_count_share": 0.1095, "corner_stop_time_share": 0.1318, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 85, "people_jams": 190, "robot_blocked_jams": 169, "robot_blocked_jam_share": 0.8895, "chair_pulls": 176, "robot_contacts": 43, "robot_yield_waits": 302, "robot_yield_wait_s": 1232.277, "robot_yield_detours": 8, "register_crowd_max": 9, "register_crowd_mean": 2.5049, "register_pay_count": 81, "register_pay_not_at_back": 1, "register_pay_off_spot": 26, "register_pay_offset_mean_m": 0.2194, "register_pay_offset_max_m": 12.0287, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 21, "drink_bar_gave_up": 2, "drink_bar_wait_mean": 0.6876, "drink_bar_wait_p90": 0.9965, "gave_up": 36, "warped": 36, "table_freed": 23, "people_jam_total_s": 724.707, "walkers_mean": 10.3309, "measured_minutes": 180.2972},
  "site_metrics": {"entry_wait_mean": 5.9371, "full_wait_mean": 2.3802, "staff_wait_mean": 2.3347, "blocked_wait_mean": 1.9549, "guide_wait_mean": 0.3798, "seat_wait_mean": 4.3351, "dish_wait_mean": 3.8241, "dish_wait_p90": 5.9361, "cold_share": 0.6262, "turn_mean": 4.9603, "walk_km_per_staff": 2.5653, "staff_util": 0.7325, "robot_util": 0.7872, "robot_share": 0.5935, "rescues": 16, "pauses": 194, "groups": 85},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r1_a42", "arrivals_minutes": 120, "total_minutes": 180.2972, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 16, "rescue_wait_s": 420.4488, "gave_up": 36, "warped": 36, "table_freed": 23},
  "site_result": {"dish_wait_mean": 2.0398, "dish_wait_p90": 3.0695, "cold_share": 0.1266, "seat_wait_mean": 1.2236, "turn_mean": 4.1041, "walk_km_per_staff": 1.8926, "staff_util": 0.6456, "robot_util": 0.7497, "robot_share": 0.7252, "robot_bus_share": 0, "collects": 0, "rescues": 0.925, "pauses": 20.25, "fragile_robot": 30.4, "groups": 82.55, "entry_wait_mean": 1.6401, "blocked_wait_mean": 0.9494, "guide_wait_mean": 0.2395, "staff_wait_mean": 1.189, "full_wait_mean": 0.2742},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r1_a42,1.2,normal,1,2,1,1,34,9.48,17.3,0.95,1,0.95,0,0,0,0,1.528,0,34,0,,,0,0.5798,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,2,1,2,35,9.42,18.3,2.05,2,0.95;1.1,0,0,0,0,1.5276,0,35,1,458.9315,501.2711,0,0.5797,0,0,0,0,2,0,2.05
fam_p1_s4_r1_a42,1.2,normal,1,2,1,3,1,30.9003,52.9995,0.95,1,0.95,0,0,0,0,1.2485,0,1,1,582.0014,625.3408,0,0.5937,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,2,1,4,36,10.32,18.7,0.95,1,0.95,0,0,0,0,1.5274,0,36,1,619.0424,703.3718,0,0.5814,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,2,1,5,38,14.61,26.8499,1.4,2,0.95;0.45,0,0,0,1,1.8677,0,38,1,679.6276,747.1111,0,0.5741,0,0,0,0,2,0,1.4
fam_p1_s4_r1_a42,1.2,normal,1,2,1,6,34,9.45,17.25,0.95,1,0.95,0,0,0,0,1.8675,0,34,1,729.6154,798.9984,0,0.5798,0,0,0,0,1,0,0.95
fam_p1_s4_r1_a42,1.2,normal,1,2,1,7,39,16.83,30.5498,1.4,2,0.95;0.45,0,0,0,1,1.5284,0,39,1,771.3052,841.2881,0,0.5774,0,0,0,0,2,0,1.4

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r1_a42,2,1,1,459,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,2,1,2,582.1,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,2,1,2,616.45,15.8394,2.4362,,0,椅子・荷物・ベビーカー,Table35/Chair,0,1.1,自分で動き出した,275,275,275,0.15,0,0,0.95,0,15.839;2.436,15.3;4.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,2,1,3,625.45,16.851,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,2,1,4,703.5,16.8519,5.8242,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.824,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,2,1,5,747.25,16.8575,5.833,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.858;5.833,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r1_a42,2,1,5,787.05,18.5359,2.2299,,0,椅子・荷物・ベビーカー,Table37/Chair,0,0.45,自分で動き出した,88.1099,32.0672,32.0672,0,0,0,0.45,0,18.925;2.212,16.738;2.312,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r1_a42,2,1,34,1,0,458.9315,458.9814,501.2711,ロボット,0.05,42.2897,0,0,0,0,0,0
fam_p1_s4_r1_a42,2,2,35,2,0,582.0014,582.0514,625.3408,ロボット,0.05,43.2894,0,0,0,0,0,0
fam_p1_s4_r1_a42,2,3,1,4,0,619.0424,625.3908,703.3718,ロボット,6.3485,77.981,0,0,0,0,0,0
fam_p1_s4_r1_a42,2,4,36,3,0,679.6276,703.4218,747.1111,ロボット,23.7942,43.6893,0,0,0,0,0,0
fam_p1_s4_r1_a42,2,5,38,6,0,729.6154,747.1611,798.9984,ロボット,17.5457,51.8373,0,0,0,0,0,0
fam_p1_s4_r1_a42,2,6,34,1,0,771.3052,799.0484,841.2881,ロボット,27.7432,42.2397,0,0,0,0,0,0
fam_p1_s4_r1_a42,2,7,39,7,0,829.6409,841.3381,896.8745,ロボット,11.6971,55.5364,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p1_s4_r1_a42,2,1220.035,スタッフ:Staff02,1,ロボット1号機,1.1856,2.0566,,,0,1.7,0,1
fam_p1_s4_r1_a42,2,1370.582,スタッフ:Staff01,1,ロボット1号機,0.9541,2.2967,,,0,4.05,0,1
fam_p1_s4_r1_a42,2,1380.792,スタッフ:Staff04,1,ロボット1号機,9.1766,4.523,,,0,4.6,1,1
fam_p1_s4_r1_a42,2,1800.051,客:Guest(Clone),2,ロボット1号機,5.0602,4.5219,,,0,5,0,0
fam_p1_s4_r1_a42,2,1805.906,客:Guest(Clone),2,ロボット1号機,5.0602,4.5263,,,0,5,0,0
fam_p1_s4_r1_a42,2,1811.762,客:Guest(Clone),2,ロボット1号機,5.0602,4.53,,,0,5,0,0
fam_p1_s4_r1_a42,2,1824.725,スタッフ:Staff01,1,ロボット1号機,7.8812,3.8314,,,0,2.65,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r1_a42,2,1639.394,客,トイレ,39,20.263,2.188,16.6748,2.5525,,60,移した
fam_p1_s4_r1_a42,2,1819.77,客,ドリンクバー,1,1.912,4.762,5.5602,4.5331,,60,移した
fam_p1_s4_r1_a42,2,2262.201,客,ドリンクバー,4,1.912,10.312,3.5726,12.486,,60,移した
fam_p1_s4_r1_a42,2,2684.914,客,ドリンクバー,9,5.613,4.962,8.2819,4.5329,,60,移した
fam_p1_s4_r1_a42,2,2761.739,客,トイレ,40,21.362,2.188,18.1363,2.3826,,60,移した
fam_p1_s4_r1_a42,2,3009.681,客,ドリンクバー,11,5.613,8.662,8.5098,4.548,,60,移した
fam_p1_s4_r1_a42,2,3130.699,スタッフ,呼び出し,17,5.613,13.888,8.5412,14.5006,,60.0494,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r1_a42,2,1,2,34,2,31.8198,31.8198,106.8719,3307.082,3307.121,3624.48,3624.48,1.2509,0,Done
fam_p1_s4_r1_a42,2,2,1,35,2,51.4195,51.4195,128.6232,3218.187,3218.234,3444.104,3444.104,1.2867,0,Done
fam_p1_s4_r1_a42,2,3,2,36,2,80.4203,80.4203,159.2251,2963.579,2963.586,3067.437,3067.437,1.3134,0,Done
fam_p1_s4_r1_a42,2,4,4,1,4,171.0758,171.0758,234.9797,3410.671,3410.672,3714.668,3714.668,1.0651,0,Done
fam_p1_s4_r1_a42,2,5,1,37,2,180.2264,180.2264,258.8303,3135.892,3135.904,3251.717,3251.717,1.3101,0,Done
fam_p1_s4_r1_a42,2,6,1,38,2,237.2799,237.2799,305.369,3144.487,3144.512,3353.917,3353.917,1.1348,0,Done
fam_p1_s4_r1_a42,2,7,2,39,2,252.6808,252.6808,333.762,3280.997,3281.045,3534.292,3534.292,1.3514,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r1_a42,2,1983.279,16.9013,2.1787,,,客:Guest(Clone),0,1,-2.6812
fam_p1_s4_r1_a42,2,2750.177,11.5865,4.059,,,スタッフ:Staff03,0,1,9.9247
fam_p1_s4_r1_a42,2,3178.595,12.6,4.9402,,,スタッフ:Staff04,0,1,9.844
fam_p1_s4_r1_a42,2,3382.244,1.9115,8.6806,A01,,客:Guest(Clone),0,1,-0.0152
fam_p1_s4_r1_a42,2,3574.482,15.7837,4.3128,,,スタッフ:Staff02,0,1,9.9853
fam_p1_s4_r1_a42,2,4632.387,18.9441,2.5329,,,スタッフ:Staff02,1,1,9.9671
fam_p1_s4_r1_a42,2,4758.343,18.0132,2.1709,,,客:Guest(Clone),0,1,-0.0421

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:19:32",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:03:35",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 4.2197, "dish_wait_p90": 8.1635, "cold_share": 0.5507, "seat_wait_mean": 0.8571, "turn_mean": 6.1583, "robot_share": 0.7053, "robot_dishes": 146, "staff_dishes": 61, "requeued_dishes": 2, "late_staff_dishes": 61, "late_staff_share": 0.2947, "robot_first_wait_s": 120, "yields": 2226, "yields_by_robot": 91, "yields_by_staff": 1879, "yields_by_guest": 256, "yields_stepped_aside": 319, "yields_in_corner": 673, "yields_passed": 649, "yield_wait_s": 4592.794, "yield_wait_mean_s": 2.0633, "staff_yields": 1879, "staff_yield_wait_s": 2655.547, "staff_yield_mean_s": 1.4133, "staff_yield_share_of_staff_time": 0.0616, "staff_time_total_s": 43124.71, "corner_stops": 68, "corner_stop_s": 1132.09, "corner_stop_count_share": 0.1671, "corner_stop_time_share": 0.2212, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 83, "people_jams": 691, "robot_blocked_jams": 676, "robot_blocked_jam_share": 0.9783, "chair_pulls": 153, "robot_contacts": 81, "robot_yield_waits": 2132, "robot_yield_wait_s": 3434.025, "robot_yield_detours": 11, "register_crowd_max": 10, "register_crowd_mean": 2.6866, "register_pay_count": 78, "register_pay_not_at_back": 2, "register_pay_off_spot": 16, "register_pay_offset_mean_m": 0.1858, "register_pay_offset_max_m": 5.8041, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 27, "drink_bar_gave_up": 6, "drink_bar_wait_mean": 0.7017, "drink_bar_wait_p90": 0.9965, "gave_up": 100, "warped": 59, "table_freed": 35, "people_jam_total_s": 1667.291, "walkers_mean": 9.3803, "measured_minutes": 179.5543},
  "site_metrics": {"entry_wait_mean": 2.892, "full_wait_mean": 0, "staff_wait_mean": 1.6328, "blocked_wait_mean": 0.857, "guide_wait_mean": 0.7757, "seat_wait_mean": 0.8571, "dish_wait_mean": 4.2197, "dish_wait_p90": 8.1635, "cold_share": 0.5507, "turn_mean": 6.1583, "walk_km_per_staff": 2.5281, "staff_util": 0.8095, "robot_util": 0.7073, "robot_share": 0.7053, "rescues": 55, "pauses": 352, "groups": 83},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 179.5543, "everyone_left": true, "aisle_deferrals": 45, "staff_first_yield": true, "robot_stuck_detours": 1458, "rescues_done": 54, "rescue_wait_s": 1869.998, "gave_up": 100, "warped": 59, "table_freed": 35},
  "site_result": {"dish_wait_mean": 1.0102, "dish_wait_p90": 2.0803, "cold_share": 0.014, "seat_wait_mean": 0.4546, "turn_mean": 3.5399, "walk_km_per_staff": 1.6027, "staff_util": 0.6158, "robot_util": 0.6013, "robot_share": 0.9914, "robot_bus_share": 0, "collects": 0, "rescues": 1.6, "pauses": 44.2, "fragile_robot": 41.9, "groups": 83.275, "entry_wait_mean": 0.8336, "blocked_wait_mean": 0.3575, "guide_wait_mean": 0.2015, "staff_wait_mean": 0.559, "full_wait_mean": 0.0971},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r2_a42,1.2,normal,2,0,1,1,3,38.3101,71.5498,6.6,2,0.95;5.65,0,0,0,1,0.5307,1,3,0,,,0,0.5898,0,0,0,0,2,0,6.6
fam_p1_s4_r2_a42,1.2,normal,2,0,2,2,2,36.8251,67.1995,4.45,2,0.95;3.5,0,0,0,1,0.5393,1,2;1,0,,,0,0.5869,0,0,0,0,2,0,4.45
fam_p1_s4_r2_a42,1.2,normal,2,0,1,3,1,30.9003,58.9494,5.8,3,0.95;4.15;0.7,0,0,0,1,0.1318,1,1,1,536.9124,633.4888,0,0.5814,0,0,0,0,3,0,5.8
fam_p1_s4_r2_a42,1.2,normal,2,0,2,4,3,40.71,74.0999,4.6,3,0.95;2.65;1,0,0,0,1,0.4785,1,3,2,567.9048;552.5586,718.5181;718.5181,0,0.5858,0,0,0,0,3,0,4.6
fam_p1_s4_r2_a42,1.2,normal,2,0,1,5,2,34.5302,59.0494,0.95,1,0.95,0,0,0,0,0.9996,0,2,1,708.4205,792.4,0,0.5943,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,0,2,6,34,11.04,19.9,0.95,1,0.95,0,0,0,0,1.877,0,34,1,716.9684,834.2398,0,0.5826,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,0,1,7,35,9.42,17.2,0.95,1,0.95,0,0,0,0,1.9264,0,35,1,858.7338,942.8133,0,0.5797,0,0,0,0,1,0,0.95

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r2_a42,0,1,1,537,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,1,615.05,10.0485,4.362,,0,もう1台のロボット,ServingRobot02,0,5.65,自分で動き出した,18.8092,231.2592,18.8092,4.7,0,0,0.95,0,2.055;4.533,12.388;4.312,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,601.35,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,2,2,615.05,10.7707,4.39,,0,もう1台のロボット,ServingRobot01,0,3.5,自分で動き出した,234.0106,16.0017,16.0017,2.4,0,0,1.1,0,10.771;4.39,10.771;3.462,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,3,708.55,16.8515,5.8239,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.824,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,3,761.85,2.6119,4.5162,,0,もう1台のロボット,ServingRobot02,0,4.15,自分で動き出した,3.3874,275,3.3874,3.2,0,0,0.95,0,2.064;4.528,12.463;4.312,PathComplete,2,0.025
fam_p1_s4_r2_a42,0,1,3,784.05,13.0917,4.4954,,0,スタッフとすれ違った,Staff02,0,0.7,自分で動き出した,275,275,275,0,0,0,0.7,0,12.225;4.317,15.3;4.95,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r2_a42,0,1,3,3,0,536.9124,536.9624,633.4888,ロボット,0.05,96.5264,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,3,2,2,0,567.9048,601.2967,718.5181,ロボット,33.3919,117.2214,0,0,0,1,0,1
fam_p1_s4_r2_a42,0,2,1,1,0,552.5586,601.2967,718.5181,ロボット,48.7381,117.2214,0,0,0,1,0,1
fam_p1_s4_r2_a42,0,4,1,1,0,708.4205,708.4705,792.4,ロボット,0.05,83.9295,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,5,3,3,0,716.9684,735.164,834.2398,ロボット,18.1956,99.0758,0,0,0,0,0,1
fam_p1_s4_r2_a42,0,6,2,2,0,858.7338,858.7838,942.8133,ロボット,0.05,84.0295,0,0,0,0,0,0
fam_p1_s4_r2_a42,0,7,34,4,0,921.1186,921.1686,966.0576,ロボット,0.05,44.889,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p1_s4_r2_a42,0,614.0436,スタッフ:Staff02,1,ロボット1号機,12.3922,4.5382,,,1,1,1,1
fam_p1_s4_r2_a42,0,616.443,ロボット2号機,0,ロボット1号機,10.7707,4.39,,,1,5.4,1,1
fam_p1_s4_r2_a42,0,644.7361,スタッフ:Staff01,1,ロボット2号機,0.8,2.0335,,,0,47.6496,0,1
fam_p1_s4_r2_a42,0,712.1696,スタッフ:Staff01,1,ロボット1号機,12.8853,5.1837,,,1,4.25,1,1
fam_p1_s4_r2_a42,0,762.9072,ロボット2号機,0,ロボット1号機,3.157,4.32,,,0,5,1,1
fam_p1_s4_r2_a42,0,782.1525,スタッフ:Staff02,1,ロボット1号機,14.9,4.7708,,,0,1.85,1,1
fam_p1_s4_r2_a42,0,810.8955,スタッフ:Staff01,1,ロボット2号機,6.4605,3.6476,,,0,3.5,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r2_a42,0,1508.316,客,ドリンクバー,4,1.912,10.312,12.6045,4.1042,,60,移した
fam_p1_s4_r2_a42,0,1639.544,スタッフ,立ち往生を動かす,0,17.0704,2.6103,16.5585,2.5873,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1699.703,スタッフ,立ち往生を動かす,0,16.999,2.4518,16.5404,2.4017,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1759.861,スタッフ,立ち往生を動かす,0,16.9695,2.3281,16.5801,2.1827,,60.0494,移した
fam_p1_s4_r2_a42,0,1785.586,スタッフ,料理を運ぶ,5,15.3,5.95,18.0948,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1845.745,スタッフ,料理を運ぶ,5,15.3,5.95,18.1461,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,0,1895.093,スタッフ,立ち往生を動かす,0,17.0291,2.5302,16.5188,2.5365,,60.0494,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r2_a42,0,1,4,1,4,56.4194,56.4194,119.8727,2471.569,2478.563,2579.761,2579.761,1.0576,0,Done
fam_p1_s4_r2_a42,0,2,3,0,0,95.8213,95.8213,161.6753,3625.609,3625.632,3826.528,3826.528,1.0976,0,Done
fam_p1_s4_r2_a42,0,3,4,3,4,103.0217,103.0217,172.2259,3027.749,3027.798,3128.997,3128.997,1.1534,0,Done
fam_p1_s4_r2_a42,0,4,2,34,2,334.1619,334.1619,408.2938,3904.237,3904.253,4206.557,4206.557,1.2355,0,Done
fam_p1_s4_r2_a42,0,5,1,35,2,424.5898,424.5898,499.5215,3385.25,3605.662,3736.34,3736.34,1.2489,0,Done
fam_p1_s4_r2_a42,0,6,4,4,4,434.8373,434.8373,504.9202,3301.795,3358.071,3459.069,3459.069,1.168,0,Done
fam_p1_s4_r2_a42,0,7,1,36,2,485.9749,485.9749,563.6059,2724.849,2724.853,2903.027,2903.027,1.2939,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r2_a42,0,977.7548,11.482,4.0613,,,スタッフ:Staff01,0,2,8.8155
fam_p1_s4_r2_a42,0,1759.861,16.9695,2.3281,,,スタッフ:Staff01,0,2,-13.0867
fam_p1_s4_r2_a42,0,1784.335,18.1811,2.55,,,スタッフ:Staff03,0,1,9.4571
fam_p1_s4_r2_a42,0,2015.361,17.0017,2.4599,,,スタッフ:Staff03,0,2,-16.962
fam_p1_s4_r2_a42,0,2201.592,7.4422,4.0321,,,スタッフ:Staff01,0,1,9.3946
fam_p1_s4_r2_a42,0,2271.711,12.1678,4.5333,,,スタッフ:Staff04,1,1,9.5557
fam_p1_s4_r2_a42,0,2440.375,5.8,5.112,A02,,スタッフ:Staff04,0,1,9.2172

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:03:36",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:28:35",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 4.4348, "dish_wait_p90": 8.457, "cold_share": 0.623, "seat_wait_mean": 0.2946, "turn_mean": 4.6665, "robot_share": 0.6448, "robot_dishes": 118, "staff_dishes": 65, "requeued_dishes": 8, "late_staff_dishes": 65, "late_staff_share": 0.3552, "robot_first_wait_s": 120, "yields": 552, "yields_by_robot": 127, "yields_by_staff": 286, "yields_by_guest": 139, "yields_stepped_aside": 210, "yields_in_corner": 40, "yields_passed": 482, "yield_wait_s": 3039.088, "yield_wait_mean_s": 5.5056, "staff_yields": 286, "staff_yield_wait_s": 1475.743, "staff_yield_mean_s": 5.1599, "staff_yield_share_of_staff_time": 0.0345, "staff_time_total_s": 42808.96, "corner_stops": 27, "corner_stop_s": 334.4472, "corner_stop_count_share": 0.0712, "corner_stop_time_share": 0.0621, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 74, "people_jams": 1044, "robot_blocked_jams": 1001, "robot_blocked_jam_share": 0.9588, "chair_pulls": 151, "robot_contacts": 83, "robot_yield_waits": 427, "robot_yield_wait_s": 1815.296, "robot_yield_detours": 6, "register_crowd_max": 9, "register_crowd_mean": 2.2959, "register_pay_count": 70, "register_pay_not_at_back": 0, "register_pay_off_spot": 12, "register_pay_offset_mean_m": 0.0375, "register_pay_offset_max_m": 0.2905, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 22, "drink_bar_gave_up": 2, "drink_bar_wait_mean": 0.6825, "drink_bar_wait_p90": 1.0023, "gave_up": 74, "warped": 46, "table_freed": 21, "people_jam_total_s": 1893.489, "walkers_mean": 8.5081, "measured_minutes": 178.2278},
  "site_metrics": {"entry_wait_mean": 2.3919, "full_wait_mean": 0, "staff_wait_mean": 1.1051, "blocked_wait_mean": 0.2946, "guide_wait_mean": 0.8105, "seat_wait_mean": 0.2946, "dish_wait_mean": 4.4348, "dish_wait_p90": 8.457, "cold_share": 0.623, "turn_mean": 4.6665, "walk_km_per_staff": 2.4884, "staff_util": 0.7517, "robot_util": 0.6753, "robot_share": 0.6448, "rescues": 62, "pauses": 317, "groups": 74},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 178.2278, "everyone_left": true, "aisle_deferrals": 29, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 60, "rescue_wait_s": 2203.804, "gave_up": 74, "warped": 46, "table_freed": 21},
  "site_result": {"dish_wait_mean": 1.0102, "dish_wait_p90": 2.0803, "cold_share": 0.014, "seat_wait_mean": 0.4546, "turn_mean": 3.5399, "walk_km_per_staff": 1.6027, "staff_util": 0.6158, "robot_util": 0.6013, "robot_share": 0.9914, "robot_bus_share": 0, "collects": 0, "rescues": 1.6, "pauses": 44.2, "fragile_robot": 41.9, "groups": 83.275, "entry_wait_mean": 0.8336, "blocked_wait_mean": 0.3575, "guide_wait_mean": 0.2015, "staff_wait_mean": 0.559, "full_wait_mean": 0.0971},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r2_a42,1.2,normal,2,1,1,1,34,9.48,17.3,0.95,1,0.95,0,0,0,0,1.6614,0,34,0,,,0,0.5798,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,1,1,2,35,9.42,17.2,0.95,1,0.95,0,0,0,0,0.3939,0,35,1,571.9539,614.2935,0,0.5797,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,1,1,3,36,10.32,20.05,1.75,2,0.95;0.8,0,0,0,1,1.8641,1,36,1,806.0467,848.2864,0,0.5639,0,0,0,0,2,0,1.75
fam_p1_s4_r2_a42,1.2,normal,2,1,2,4,35,11.07,19.95,0.95,1,0.95,0,0,0,0,1.8514,0,35,0,,,0,0.5826,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,1,2,5,37,13.95,26.1499,1.8,2,0.95;0.85,0,0,0,1,0.2517,0,37,1,878.2291,923.2181,0,0.5729,0,0,0,0,2,0,1.8
fam_p1_s4_r2_a42,1.2,normal,2,1,1,6,1,30.9003,52.9995,0.95,1,0.95,0,0,0,0,0.3541,0,1,1,860.5334,905.6224,0,0.5937,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,1,2,7,36,11.85,22.4999,1.65,2,0.95;0.7,0,0,0,1,0.1295,0,36,1,940.014,991.2015,0,0.5683,0,0,0,0,2,0,1.65

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r2_a42,1,1,1,572.05,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,1,1,2,806.2,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,1,1,3,860.7,16.851,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,1,1,3,896.95,16.4921,2.561,,0,もう1台のロボット,ServingRobot02,0,0.8,自分で動き出した,275,28.52,28.52,0,0,0,0.8,0,16.566;2.413,15.3;4.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,1,2,4,878.4,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,1,2,5,940.2,17.6507,5.8081,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.651;5.808,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,1,2,5,980.05,17.1209,2.2825,,0,スタッフとすれ違った,Staff02,0,0.85,自分で動き出した,65.5161,26.9051,26.9051,0,0,0,0.85,0,17.839;2.227,16.738;2.312,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r2_a42,1,1,34,1,0,571.9539,572.0038,614.2935,ロボット,0.05,42.2897,0,0,0,0,0,0
fam_p1_s4_r2_a42,1,2,35,2,0,806.0467,806.0967,848.2864,ロボット,0.05,42.1897,0,0,0,0,0,0
fam_p1_s4_r2_a42,1,3,36,3,0,860.5334,860.5834,905.6224,ロボット,0.05,45.039,0,0,0,0,0,0
fam_p1_s4_r2_a42,1,4,35,2,0,878.2291,878.2791,923.2181,ロボット,0.05,44.939,0,0,0,0,0,0
fam_p1_s4_r2_a42,1,6,37,5,0,940.014,940.064,991.2015,ロボット,0.05,51.1375,0,0,0,0,0,0
fam_p1_s4_r2_a42,1,5,1,4,0,938.5643,938.6143,1016.595,ロボット,0.05,77.981,0,0,0,0,0,0
fam_p1_s4_r2_a42,1,7,36,3,0,991.3015,991.3514,1038.858,ロボット,0.05,47.5065,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p1_s4_r2_a42,1,809.9957,スタッフ:Staff02,1,ロボット1号機,16.1979,3.032,,,0,4.6,1,1
fam_p1_s4_r2_a42,1,943.1132,スタッフ:Staff01,1,ロボット1号機,12.4233,4.5505,,,1,4.4,1,1
fam_p1_s4_r2_a42,1,978.6545,スタッフ:Staff02,1,ロボット2号機,15.7739,2.5388,,,0,1.3,1,1
fam_p1_s4_r2_a42,1,980.804,スタッフ:Staff02,1,ロボット2号機,16.8913,1.5815,,,0,0.5,1,1
fam_p1_s4_r2_a42,1,992.3512,スタッフ:Staff02,1,ロボット2号機,17.0462,5.209,,,0,1.2,1,1
fam_p1_s4_r2_a42,1,994.4007,スタッフ:Staff02,1,ロボット2号機,16.5029,5.1436,,,0,0.1,1,1
fam_p1_s4_r2_a42,1,996.1003,スタッフ:Staff02,1,ロボット2号機,15.4835,5.2122,,,0,0.8,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r2_a42,1,1423.733,客,ドリンクバー,1,1.912,4.762,4.3411,4.4867,,60,移した
fam_p1_s4_r2_a42,1,1560.367,客,ドリンクバー,36,18.3,3.9,16.5551,2.5956,,60,あきらめた
fam_p1_s4_r2_a42,1,2008.254,客,ドリンクバー,1,1.912,4.762,11.3217,4.0372,,60,移した
fam_p1_s4_r2_a42,1,2125.318,スタッフ,立ち往生を動かす,0,10.6155,4.3739,11.0634,4.3947,,60.0494,あきらめた
fam_p1_s4_r2_a42,1,2266.656,スタッフ,立ち往生を動かす,0,10.6477,4.7909,10.9539,4.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,1,2408.044,スタッフ,立ち往生を動かす,0,10.6477,4.7909,10.962,4.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,1,2476.26,客,ドリンクバー,3,1.912,8.462,1.935,7.9862,A01,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r2_a42,1,1,1,0,0,43.2696,43.2696,117.2726,3035.952,3035.956,3255.971,3255.971,1.2334,0,Done
fam_p1_s4_r2_a42,1,2,2,35,2,175.5261,175.5261,250.9807,2418.159,2418.204,2526.559,2526.559,1.2576,0,Done
fam_p1_s4_r2_a42,1,3,2,36,2,194.3773,194.3773,271.4272,2894.765,2894.769,2995.967,2995.967,1.2842,0,Done
fam_p1_s4_r2_a42,1,4,3,1,4,396.7966,396.7966,460.781,3640.999,3700.154,3859.209,3859.209,1.0664,0,Done
fam_p1_s4_r2_a42,1,5,1,37,2,437.2867,437.2867,519.0668,3580.58,3580.588,3769.021,3769.021,1.363,0,Done
fam_p1_s4_r2_a42,1,6,4,2,4,704.7714,704.7714,769.4556,4273.249,4273.295,4565.798,4565.798,1.0781,0,Done
fam_p1_s4_r2_a42,1,7,2,38,2,724.3167,724.3167,806.0967,4352.573,4352.584,4692.452,4692.452,1.363,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r2_a42,1,1928.125,1.5517,4.7964,A01,,客:Guest(Clone),0,2,-0.2956
fam_p1_s4_r2_a42,1,2469.804,10.7584,4.0454,,,スタッフ:Staff03,1,1,9.8908
fam_p1_s4_r2_a42,1,2474.559,9.6115,4.1548,,,スタッフ:Staff04,1,2,9.7557
fam_p1_s4_r2_a42,1,2602.283,7.4442,4.0634,,,客:Guest(Clone),1,1,8.4308
fam_p1_s4_r2_a42,1,2662.392,4.3855,4.526,,,客:Guest(Clone),0,1,9.6188
fam_p1_s4_r2_a42,1,2685.765,14.283,4.1868,,,スタッフ:Staff04,0,1,9.2753
fam_p1_s4_r2_a42,1,2707.386,6.413,4.55,,,スタッフ:Staff02,0,2,9.5339

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:28:36",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:38:33",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 4.7154, "dish_wait_p90": 10.8881, "cold_share": 0.6019, "seat_wait_mean": 6.0532, "turn_mean": 5.4023, "robot_share": 0.6825, "robot_dishes": 144, "staff_dishes": 67, "requeued_dishes": 3, "late_staff_dishes": 67, "late_staff_share": 0.3175, "robot_first_wait_s": 120, "yields": 4626, "yields_by_robot": 187, "yields_by_staff": 3951, "yields_by_guest": 488, "yields_stepped_aside": 440, "yields_in_corner": 741, "yields_passed": 1009, "yield_wait_s": 6394.604, "yield_wait_mean_s": 1.3823, "staff_yields": 3951, "staff_yield_wait_s": 3571.066, "staff_yield_mean_s": 0.9038, "staff_yield_share_of_staff_time": 0.0763, "staff_time_total_s": 46819.32, "corner_stops": 42, "corner_stop_s": 223.3491, "corner_stop_count_share": 0.0794, "corner_stop_time_share": 0.0381, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 85, "people_jams": 647, "robot_blocked_jams": 609, "robot_blocked_jam_share": 0.9413, "chair_pulls": 184, "robot_contacts": 120, "robot_yield_waits": 4444, "robot_yield_wait_s": 4939.911, "robot_yield_detours": 16, "register_crowd_max": 10, "register_crowd_mean": 2.7917, "register_pay_count": 77, "register_pay_not_at_back": 0, "register_pay_off_spot": 16, "register_pay_offset_mean_m": 0.0413, "register_pay_offset_max_m": 0.2961, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 26, "drink_bar_gave_up": 6, "drink_bar_wait_mean": 0.6455, "drink_bar_wait_p90": 0.9965, "gave_up": 113, "warped": 73, "table_freed": 33, "people_jam_total_s": 1575.372, "walkers_mean": 11.024, "measured_minutes": 194.9398},
  "site_metrics": {"entry_wait_mean": 9.0378, "full_wait_mean": 2.8635, "staff_wait_mean": 4.8814, "blocked_wait_mean": 3.1896, "guide_wait_mean": 1.6918, "seat_wait_mean": 6.0532, "dish_wait_mean": 4.7154, "dish_wait_p90": 10.8881, "cold_share": 0.6019, "turn_mean": 5.4023, "walk_km_per_staff": 2.6938, "staff_util": 0.7672, "robot_util": 0.7023, "robot_share": 0.6825, "rescues": 55, "pauses": 474, "groups": 85},
  "site_run": {"site_run": true, "condition_id": "fam_p1_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 194.9398, "everyone_left": true, "aisle_deferrals": 38, "staff_first_yield": true, "robot_stuck_detours": 3426, "rescues_done": 49, "rescue_wait_s": 2233.765, "gave_up": 113, "warped": 73, "table_freed": 33},
  "site_result": {"dish_wait_mean": 1.0102, "dish_wait_p90": 2.0803, "cold_share": 0.014, "seat_wait_mean": 0.4546, "turn_mean": 3.5399, "walk_km_per_staff": 1.6027, "staff_util": 0.6158, "robot_util": 0.6013, "robot_share": 0.9914, "robot_bus_share": 0, "collects": 0, "rescues": 1.6, "pauses": 44.2, "fragile_robot": 41.9, "groups": 83.275, "entry_wait_mean": 0.8336, "blocked_wait_mean": 0.3575, "guide_wait_mean": 0.2015, "staff_wait_mean": 0.559, "full_wait_mean": 0.0971},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p1_s4_r2_a42,1.2,normal,2,2,1,1,34,9.48,17.3,0.95,1,0.95,0,0,0,0,1.528,0,34,0,,,0,0.5798,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,2,1,2,35,9.42,18.3,2.05,2,0.95;1.1,0,0,0,0,1.5276,0,35,1,458.9315,501.2711,0,0.5797,0,0,0,0,2,0,2.05
fam_p1_s4_r2_a42,1.2,normal,2,2,2,3,1,32.5803,55.7994,0.95,1,0.95,0,0,0,0,1.6747,0,1,0,,,0,0.594,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,2,1,4,36,10.32,18.7,0.95,1,0.95,0,0,0,0,1.8641,0,36,1,582.0014,625.3408,0,0.5814,0,0,0,0,1,0,0.95
fam_p1_s4_r2_a42,1.2,normal,2,2,1,5,38,14.61,88.0008,61.4494,4,0.95;0.45;4.3;55.7494,0,0,0,1,1.5315,1,38,1,679.6276,723.3669,0,0.5503,0,0,0,0,4,0,61.4494
fam_p1_s4_r2_a42,1.2,normal,2,2,2,6,34,7.11,51.1995,36.7497,5,0.95;2.7;30.8998;0.8;1.4,0,0,0,1,1.8764,1,34,1,619.0923,699.9226,0,0.4921,0,0,0,0,5,0,36.7498
fam_p1_s4_r2_a42,1.2,normal,2,2,2,7,37,13.95,24.7499,0.95,1,0.95,0,0,0,0,1.5428,0,37,1,771.3052,847.5366,0,0.5861,0,0,0,0,1,0,0.95

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p1_s4_r2_a42,2,1,1,459,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,2,1,2,582.1,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,2,1,2,616.45,15.8394,2.4362,,0,椅子・荷物・ベビーカー,Table35/Chair,0,1.1,自分で動き出した,275,275,275,0.15,0,0,0.95,0,15.839;2.436,15.3;4.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,2,2,3,619.2,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,2,1,4,679.75,16.851,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,2,1,5,729.75,16.8575,5.833,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.858;5.833,15.3;5.95,PathComplete,2,0.025
fam_p1_s4_r2_a42,2,1,5,769.55,18.5359,2.2299,,0,椅子・荷物・ベビーカー,Table37/Chair,0,0.45,自分で動き出した,88.1099,32.0672,32.0672,0,0,0,0.45,0,18.925;2.212,16.738;2.312,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p1_s4_r2_a42,2,1,34,1,0,458.9315,458.9814,501.2711,ロボット,0.05,42.2897,0,0,0,0,0,0
fam_p1_s4_r2_a42,2,2,35,2,0,582.0014,582.0514,625.3408,ロボット,0.05,43.2894,0,0,0,0,0,0
fam_p1_s4_r2_a42,2,3,1,4,0,619.0923,619.1423,699.9226,ロボット,0.05,80.7803,0,0,0,0,0,0
fam_p1_s4_r2_a42,2,4,36,3,0,679.6276,679.6776,723.3669,ロボット,0.05,43.6893,0,0,0,0,0,0
fam_p1_s4_r2_a42,2,5,38,6,0,729.6154,729.6653,842.6378,ロボット,0.05,112.9724,0,0,0,0,0,0
fam_p1_s4_r2_a42,2,6,34,1,0,771.3052,771.3552,847.5366,ロボット,0.05,76.1814,0,0,0,0,0,0
fam_p1_s4_r2_a42,2,8,37,5,0,844.0374,847.5865,897.3244,ロボット,3.5491,49.7379,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p1_s4_r2_a42,2,779.0033,ロボット2号機,0,ロボット1号機,15.4843,5.2347,,,0,30.0498,1,0
fam_p1_s4_r2_a42,2,836.1393,ロボット2号機,0,ロボット1号機,15.84,5.1811,,,0,6.15,1,1
fam_p1_s4_r2_a42,2,1000.499,ロボット2号機,0,ロボット1号機,18.0213,2.3732,,,0,2.45,1,1
fam_p1_s4_r2_a42,2,1005.498,ロボット2号機,0,ロボット1号機,18.0992,1.8215,,,0,2,1,1
fam_p1_s4_r2_a42,2,1010.047,ロボット2号機,0,ロボット1号機,18.3403,1.9861,,,0,2.55,1,1
fam_p1_s4_r2_a42,2,1015.246,ロボット2号機,0,ロボット1号機,18.3705,2.1699,,,0,3.15,1,1
fam_p1_s4_r2_a42,2,1021.144,ロボット2号機,0,ロボット1号機,18.1804,2.3263,,,0,2.6,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p1_s4_r2_a42,2,1580.336,スタッフ,立ち往生を動かす,0,17.0745,2.5,16.6797,2.4261,,60.0494,あきらめた
fam_p1_s4_r2_a42,2,1600.856,スタッフ,案内,8,0.9,2.1,18.2211,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,2,1686.34,スタッフ,案内,10,0.9,2.1,18.072,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,2,1746.498,スタッフ,案内,10,0.9,2.1,18.0592,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,2,1791.993,スタッフ,料理を運ぶ,3,15.3,5.95,18.2219,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,2,1898.246,スタッフ,呼び出し,1,1.912,4.762,17.6269,2.55,,60.0494,あきらめた
fam_p1_s4_r2_a42,2,1963.01,スタッフ,案内,13,0.9,2.1,17.6269,2.55,,60.0494,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p1_s4_r2_a42,2,1,2,0,0,31.8198,31.8198,106.8719,3313.331,3313.377,-1,3914.013,1.2509,0,Done
fam_p1_s4_r2_a42,2,2,1,35,2,51.4195,51.4195,128.6232,3656.837,3656.862,4115.763,4115.763,1.2867,0,Done
fam_p1_s4_r2_a42,2,3,2,36,2,80.4203,80.4203,159.2251,2829.843,2829.855,2931.454,2931.454,1.3134,0,Done
fam_p1_s4_r2_a42,2,4,4,0,0,171.0758,171.0758,235.0297,3150.736,3443.654,-1,4044.29,1.0659,0,Done
fam_p1_s4_r2_a42,2,5,1,37,2,180.2264,180.2264,259.1802,3762.435,3781.534,4143.006,4143.006,1.3159,0,Done
fam_p1_s4_r2_a42,2,6,1,0,0,237.2799,237.2799,305.369,3234.354,3234.4,-1,3835.036,1.1348,0,Done
fam_p1_s4_r2_a42,2,7,2,0,0,252.6808,252.6808,333.712,3247.637,3247.663,-1,3848.299,1.3505,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p1_s4_r2_a42,2,1368.329,16.3497,2.7056,,,スタッフ:Staff02,0,2,7.4723
fam_p1_s4_r2_a42,2,1396.957,16.7604,2.226,,,スタッフ:Staff02,0,2,7.5851
fam_p1_s4_r2_a42,2,1407.017,16.8552,1.9983,,,スタッフ:Staff02,0,2,9.5781
fam_p1_s4_r2_a42,2,1418.628,16.8206,2.1585,,,スタッフ:Staff02,0,2,8.8245
fam_p1_s4_r2_a42,2,1430.74,16.9597,2.266,,,客:Guest(Clone),0,2,9.2265
fam_p1_s4_r2_a42,2,1488.897,16.3518,2.7593,,,スタッフ:Staff02,0,2,9.2929
fam_p1_s4_r2_a42,2,1525.733,18.2513,2.55,,,スタッフ:Staff02,0,1,9.4653

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:38:34",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[1.2000000476837159],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":35064},"summaryJson":{"instanceID":13240},"layoutFileName":"p1_efficient_corner","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p1_efficient_corner.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:47:15",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 1.1201, "dish_wait_p90": 2.1438, "cold_share": 0.0225, "seat_wait_mean": 2.9882, "turn_mean": 5.2266, "robot_share": 0, "robot_dishes": 0, "staff_dishes": 222, "requeued_dishes": 0, "late_staff_dishes": 0, "late_staff_share": 0, "robot_first_wait_s": 120, "yields": 0, "yields_by_robot": 0, "yields_by_staff": 0, "yields_by_guest": 0, "yields_stepped_aside": 0, "yields_in_corner": 0, "yields_passed": 0, "yield_wait_s": 0, "yield_wait_mean_s": 0, "staff_yields": 0, "staff_yield_wait_s": 0, "staff_yield_mean_s": 0, "staff_yield_share_of_staff_time": 0, "staff_time_total_s": 41403.97, "corner_stops": 0, "corner_stop_s": 0, "corner_stop_count_share": 0, "corner_stop_time_share": 0, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 85, "people_jams": 54, "robot_blocked_jams": 0, "robot_blocked_jam_share": 0, "chair_pulls": 156, "robot_contacts": 0, "robot_yield_waits": 0, "robot_yield_wait_s": 0, "robot_yield_detours": 0, "register_crowd_max": 10, "register_crowd_mean": 2.8822, "register_pay_count": 81, "register_pay_not_at_back": 0, "register_pay_off_spot": 16, "register_pay_offset_mean_m": 0.0463, "register_pay_offset_max_m": 0.2907, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 33, "drink_bar_gave_up": 9, "drink_bar_wait_mean": 0.639, "drink_bar_wait_p90": 0.9055, "gave_up": 9, "warped": 23, "table_freed": 31, "people_jam_total_s": 56.75, "walkers_mean": 10.2209, "measured_minutes": 172.4048},
  "site_metrics": {"entry_wait_mean": 4.8394, "full_wait_mean": 1.5201, "staff_wait_mean": 2.1071, "blocked_wait_mean": 1.4681, "guide_wait_mean": 0.639, "seat_wait_mean": 2.9882, "dish_wait_mean": 1.1201, "dish_wait_p90": 2.1438, "cold_share": 0.0225, "turn_mean": 5.2266, "walk_km_per_staff": 3.2197, "staff_util": 0.7948, "robot_util": 0, "robot_share": 0, "rescues": 0, "pauses": 0, "groups": 85},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r0_a42", "arrivals_minutes": 120, "total_minutes": 172.4048, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 0, "rescue_wait_s": 0, "gave_up": 9, "warped": 23, "table_freed": 31},
  "site_result": {"dish_wait_mean": 0.6572, "dish_wait_p90": 1.3761, "cold_share": 0.0012, "seat_wait_mean": 3.775, "turn_mean": 10.152, "walk_km_per_staff": 2.8551, "staff_util": 0.7522, "robot_util": 0, "robot_share": 0, "robot_bus_share": 0, "collects": 0, "rescues": 0, "pauses": 0, "fragile_robot": 0, "groups": 85.625, "entry_wait_mean": 4.3607, "blocked_wait_mean": 3.568, "guide_wait_mean": 0.4037, "staff_wait_mean": 3.9717, "full_wait_mean": 0.207},

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r0_a42,0,1,3,3,0,535.8627,535.8627,566.3052,スタッフ,0,30.4426,0,0,1,0,0,0
fam_p5_s4_r0_a42,0,2,1,1,0,551.9088,551.9088,579.1521,スタッフ,0,27.2434,0,0,1,0,0,0
fam_p5_s4_r0_a42,0,3,2,2,0,567.5049,567.5049,596.5479,スタッフ,0,29.0429,0,0,1,0,0,0
fam_p5_s4_r0_a42,0,4,1,1,0,707.7707,707.7707,735.6139,スタッフ,0,27.8432,0,0,1,0,0,0
fam_p5_s4_r0_a42,0,5,3,3,0,715.9187,715.9187,750.7102,スタッフ,0,34.7915,0,0,1,0,0,0
fam_p5_s4_r0_a42,0,6,2,2,0,858.3339,858.3339,887.5268,スタッフ,0,29.1929,0,0,1,0,0,0
fam_p5_s4_r0_a42,0,7,34,4,0,920.8187,920.8187,937.1147,スタッフ,0,16.296,0,0,1,0,0,0

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r0_a42,0,1914.362,客,ドリンクバー,3,1.763,8.462,1.8143,6.2822,A01,60,移した
fam_p5_s4_r0_a42,0,2153.295,客,ドリンクバー,8,1.763,10.513,1.7966,7.9291,A01,60,移した
fam_p5_s4_r0_a42,0,2330.318,客,ドリンクバー,4,1.763,10.312,7.4568,4.2476,,60,移した
fam_p5_s4_r0_a42,0,2915.088,客,ドリンクバー,6,18.8,3.9,1.763,6.812,A01,0,あきらめた
fam_p5_s4_r0_a42,0,3247.763,客,ドリンクバー,8,1.763,10.513,1.6619,8.4665,A01,60,移した
fam_p5_s4_r0_a42,0,3269.034,客,ドリンクバー,8,18.8,3.9,1.763,10.513,A01,0,あきらめた
fam_p5_s4_r0_a42,0,3272.737,客,ドリンクバー,7,1.763,8.662,1.8821,6.2687,A01,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r0_a42,0,1,4,1,4,56.4194,56.4194,119.2227,3330.368,3330.394,3497.907,3497.907,1.0467,0,Done
fam_p5_s4_r0_a42,0,2,3,2,4,95.8213,95.8213,161.2752,2456.547,2456.591,2569.251,2569.251,1.0909,0,Done
fam_p5_s4_r0_a42,0,3,4,3,4,103.0217,103.0217,171.1758,2848.064,2848.073,2953.876,2953.876,1.1359,0,Done
fam_p5_s4_r0_a42,0,4,2,34,2,334.1619,334.1619,407.9939,3433.197,3433.244,3701.155,3701.155,1.2305,0,Done
fam_p5_s4_r0_a42,0,5,1,35,2,424.5898,424.5898,499.2216,2884.93,2884.959,3044.064,3044.064,1.2439,0,Done
fam_p5_s4_r0_a42,0,6,4,4,4,434.8373,434.8373,504.5203,3518.751,3518.777,3881.531,3881.531,1.1614,0,Done
fam_p5_s4_r0_a42,0,7,1,36,2,485.9749,485.9749,563.106,2685.661,2685.665,2809.936,2809.936,1.2855,0,Done

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:47:15",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:55:25",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 1.0004, "dish_wait_p90": 1.9807, "cold_share": 0.0116, "seat_wait_mean": 0, "turn_mean": 4.7399, "robot_share": 0, "robot_dishes": 0, "staff_dishes": 173, "requeued_dishes": 0, "late_staff_dishes": 0, "late_staff_share": 0, "robot_first_wait_s": 120, "yields": 0, "yields_by_robot": 0, "yields_by_staff": 0, "yields_by_guest": 0, "yields_stepped_aside": 0, "yields_in_corner": 0, "yields_passed": 0, "yield_wait_s": 0, "yield_wait_mean_s": 0, "staff_yields": 0, "staff_yield_wait_s": 0, "staff_yield_mean_s": 0, "staff_yield_share_of_staff_time": 0, "staff_time_total_s": 39270.93, "corner_stops": 0, "corner_stop_s": 0, "corner_stop_count_share": 0, "corner_stop_time_share": 0, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 69, "people_jams": 146, "robot_blocked_jams": 0, "robot_blocked_jam_share": 0, "chair_pulls": 140, "robot_contacts": 0, "robot_yield_waits": 0, "robot_yield_wait_s": 0, "robot_yield_detours": 0, "register_crowd_max": 9, "register_crowd_mean": 2.2391, "register_pay_count": 67, "register_pay_not_at_back": 0, "register_pay_off_spot": 12, "register_pay_offset_mean_m": 0.0448, "register_pay_offset_max_m": 0.2998, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 28, "drink_bar_gave_up": 7, "drink_bar_wait_mean": 0.6378, "drink_bar_wait_p90": 0.9216, "gave_up": 10, "warped": 12, "table_freed": 14, "people_jam_total_s": 153.0002, "walkers_mean": 8.1532, "measured_minutes": 163.5246},
  "site_metrics": {"entry_wait_mean": 1.6157, "full_wait_mean": 0, "staff_wait_mean": 0.4105, "blocked_wait_mean": 0, "guide_wait_mean": 0.4105, "seat_wait_mean": 0, "dish_wait_mean": 1.0004, "dish_wait_p90": 1.9807, "cold_share": 0.0116, "turn_mean": 4.7399, "walk_km_per_staff": 2.8176, "staff_util": 0.7173, "robot_util": 0, "robot_share": 0, "rescues": 0, "pauses": 0, "groups": 69},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r0_a42", "arrivals_minutes": 120, "total_minutes": 163.5246, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 0, "rescue_wait_s": 0, "gave_up": 10, "warped": 12, "table_freed": 14},
  "site_result": {"dish_wait_mean": 0.6572, "dish_wait_p90": 1.3761, "cold_share": 0.0012, "seat_wait_mean": 3.775, "turn_mean": 10.152, "walk_km_per_staff": 2.8551, "staff_util": 0.7522, "robot_util": 0, "robot_share": 0, "robot_bus_share": 0, "collects": 0, "rescues": 0, "pauses": 0, "fragile_robot": 0, "groups": 85.625, "entry_wait_mean": 4.3607, "blocked_wait_mean": 3.568, "guide_wait_mean": 0.4037, "staff_wait_mean": 3.9717, "full_wait_mean": 0.207},

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r0_a42,1,1,34,1,0,571.7039,571.7039,587.95,スタッフ,0,16.246,0,0,1,0,0,0
fam_p5_s4_r0_a42,1,2,35,2,0,805.5468,805.5468,822.9926,スタッフ,0,17.4457,0,0,1,0,0,0
fam_p5_s4_r0_a42,1,3,36,3,0,860.1335,860.1335,878.1291,スタッフ,0,17.9956,0,0,1,0,0,0
fam_p5_s4_r0_a42,1,4,35,2,0,877.7292,877.7292,895.5748,スタッフ,0,17.8456,0,0,1,0,0,0
fam_p5_s4_r0_a42,1,6,37,5,0,938.5143,938.5143,957.2098,スタッフ,0,18.6954,0,0,1,0,0,0
fam_p5_s4_r0_a42,1,5,1,4,0,937.5146,937.5146,968.607,スタッフ,0,31.0924,0,0,1,0,0,0
fam_p5_s4_r0_a42,1,7,36,3,0,990.9016,990.9016,1007.398,スタッフ,0,16.496,0,0,1,0,0,0

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r0_a42,1,1,1,34,2,43.2696,43.2696,117.0225,3009.526,3009.531,3110.479,3110.479,1.2292,0,Done
fam_p5_s4_r0_a42,1,2,2,35,2,175.5261,175.5261,250.4807,2390.516,2390.527,2491.976,2491.976,1.2492,0,Done
fam_p5_s4_r0_a42,1,3,2,36,2,194.3773,194.3773,271.0273,2863.305,2863.338,2985.507,2985.507,1.2775,0,Done
fam_p5_s4_r0_a42,1,4,3,1,4,396.7966,396.7966,459.7313,3583.543,3635.491,3829.23,3829.23,1.0489,0,Done
fam_p5_s4_r0_a42,1,5,1,37,2,437.2867,437.2867,517.5671,3547.028,3547.055,3739.042,3739.042,1.338,0,Done
fam_p5_s4_r0_a42,1,6,4,2,4,704.7714,704.7714,768.8558,3708.958,3708.963,4009.606,4009.606,1.0681,0,Done
fam_p5_s4_r0_a42,1,7,2,38,2,724.3167,724.3167,805.9967,3515.885,3515.925,3637.493,3637.493,1.3613,0,Done

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 01:55:25",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:04:20",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 1.1089, "dish_wait_p90": 2.0162, "cold_share": 0.0266, "seat_wait_mean": 0, "turn_mean": 6.3915, "robot_share": 0, "robot_dishes": 0, "staff_dishes": 188, "requeued_dishes": 0, "late_staff_dishes": 0, "late_staff_share": 0, "robot_first_wait_s": 120, "yields": 0, "yields_by_robot": 0, "yields_by_staff": 0, "yields_by_guest": 0, "yields_stepped_aside": 0, "yields_in_corner": 0, "yields_passed": 0, "yield_wait_s": 0, "yield_wait_mean_s": 0, "staff_yields": 0, "staff_yield_wait_s": 0, "staff_yield_mean_s": 0, "staff_yield_share_of_staff_time": 0, "staff_time_total_s": 42011.32, "corner_stops": 0, "corner_stop_s": 0, "corner_stop_count_share": 0, "corner_stop_time_share": 0, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 74, "people_jams": 67, "robot_blocked_jams": 0, "robot_blocked_jam_share": 0, "chair_pulls": 152, "robot_contacts": 0, "robot_yield_waits": 0, "robot_yield_wait_s": 0, "robot_yield_detours": 0, "register_crowd_max": 8, "register_crowd_mean": 2.4861, "register_pay_count": 74, "register_pay_not_at_back": 0, "register_pay_off_spot": 0, "register_pay_offset_mean_m": 0, "register_pay_offset_max_m": 0, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 38, "drink_bar_gave_up": 5, "drink_bar_wait_mean": 0.6364, "drink_bar_wait_p90": 0.9692, "gave_up": 6, "warped": 19, "table_freed": 24, "people_jam_total_s": 70.25, "walkers_mean": 8.6468, "measured_minutes": 174.9274},
  "site_metrics": {"entry_wait_mean": 1.6289, "full_wait_mean": 0, "staff_wait_mean": 0.4422, "blocked_wait_mean": 0, "guide_wait_mean": 0.4422, "seat_wait_mean": 0, "dish_wait_mean": 1.1089, "dish_wait_p90": 2.0162, "cold_share": 0.0266, "turn_mean": 6.3915, "walk_km_per_staff": 2.9547, "staff_util": 0.7291, "robot_util": 0, "robot_share": 0, "rescues": 0, "pauses": 0, "groups": 74},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r0_a42", "arrivals_minutes": 120, "total_minutes": 174.9274, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 0, "rescues_done": 0, "rescue_wait_s": 0, "gave_up": 6, "warped": 19, "table_freed": 24},
  "site_result": {"dish_wait_mean": 0.6572, "dish_wait_p90": 1.3761, "cold_share": 0.0012, "seat_wait_mean": 3.775, "turn_mean": 10.152, "walk_km_per_staff": 2.8551, "staff_util": 0.7522, "robot_util": 0, "robot_share": 0, "robot_bus_share": 0, "collects": 0, "rescues": 0, "pauses": 0, "fragile_robot": 0, "groups": 85.625, "entry_wait_mean": 4.3607, "blocked_wait_mean": 3.568, "guide_wait_mean": 0.4037, "staff_wait_mean": 3.9717, "full_wait_mean": 0.207},

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r0_a42,2,1,34,1,0,458.5815,458.5815,474.7276,スタッフ,0,16.1461,0,0,1,0,0,0
fam_p5_s4_r0_a42,2,2,35,2,0,581.7015,581.7015,597.8475,スタッフ,0,16.1461,0,0,1,0,0,0
fam_p5_s4_r0_a42,2,3,1,4,0,618.5425,618.5425,645.186,スタッフ,0,26.6435,0,0,1,0,0,0
fam_p5_s4_r0_a42,2,4,36,3,0,679.6276,679.6276,696.1235,スタッフ,0,16.496,0,0,1,0,0,0
fam_p5_s4_r0_a42,2,5,38,6,0,729.8653,729.8653,748.4608,スタッフ,0,18.5955,0,0,1,0,0,0
fam_p5_s4_r0_a42,2,6,34,1,0,770.9553,770.9553,787.1013,スタッフ,0,16.1461,0,0,1,0,0,0
fam_p5_s4_r0_a42,2,7,39,7,0,829.191,829.191,848.8862,スタッフ,0,19.6952,0,0,1,0,0,0

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r0_a42,2,1718.621,客,ドリンクバー,3,1.763,8.462,1.784,7.5034,A01,60,移した
fam_p5_s4_r0_a42,2,2819.145,客,ドリンクバー,8,1.763,10.513,1.8066,10.1666,A01,60,移した
fam_p5_s4_r0_a42,2,3145.763,客,ドリンクバー,3,1.763,8.462,1.8362,6.6131,A01,60,移した
fam_p5_s4_r0_a42,2,3152.52,客,ドリンクバー,4,1.763,10.312,1.8006,7.5359,A01,60,移した
fam_p5_s4_r0_a42,2,3192.159,客,ドリンクバー,3,1.763,8.462,1.8298,6.2737,A01,60,移した
fam_p5_s4_r0_a42,2,3211.077,客,ドリンクバー,2,1.763,6.613,1.9125,4.5984,,60,移した
fam_p5_s4_r0_a42,2,3351.214,客,ドリンクバー,7,1.763,8.662,1.7601,8.175,A01,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r0_a42,2,1,2,34,2,31.8198,31.8198,106.5219,2265.863,2265.905,2378.365,2378.365,1.245,0,Done
fam_p5_s4_r0_a42,2,2,1,35,2,51.4195,51.4195,128.3232,2649.495,2649.529,2780.657,2780.657,1.2817,0,Done
fam_p5_s4_r0_a42,2,3,2,36,2,80.4203,80.4203,159.2251,3225.606,3225.641,3411.323,3411.323,1.3134,0,Done
fam_p5_s4_r0_a42,2,4,4,1,4,171.0758,171.0758,234.4797,2721.092,2721.099,2870.845,2870.845,1.0567,0,Done
fam_p5_s4_r0_a42,2,5,1,37,2,180.2264,180.2264,258.7803,3344.707,3344.708,3501.51,3501.51,1.3092,0,Done
fam_p5_s4_r0_a42,2,6,1,38,2,237.2799,237.2799,305.6189,2569.116,2569.151,2670.099,2670.099,1.139,0,Done
fam_p5_s4_r0_a42,2,7,2,39,2,252.6808,252.6808,333.3121,2788.795,2788.815,2961.033,2961.033,1.3439,0,Done

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:04:21",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:13:27",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.829, "dish_wait_p90": 5.4148, "cold_share": 0.6406, "seat_wait_mean": 1.1555, "turn_mean": 4.9825, "robot_share": 0.5899, "robot_dishes": 128, "staff_dishes": 89, "requeued_dishes": 0, "late_staff_dishes": 89, "late_staff_share": 0.4101, "robot_first_wait_s": 120, "yields": 981, "yields_by_robot": 0, "yields_by_staff": 749, "yields_by_guest": 232, "yields_stepped_aside": 199, "yields_in_corner": 102, "yields_passed": 441, "yield_wait_s": 2575.449, "yield_wait_mean_s": 2.6253, "staff_yields": 749, "staff_yield_wait_s": 1717.842, "staff_yield_mean_s": 2.2935, "staff_yield_share_of_staff_time": 0.041, "staff_time_total_s": 41938.43, "corner_stops": 11, "corner_stop_s": 63.0995, "corner_stop_count_share": 0.055, "corner_stop_time_share": 0.055, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 86, "people_jams": 339, "robot_blocked_jams": 311, "robot_blocked_jam_share": 0.9174, "chair_pulls": 151, "robot_contacts": 58, "robot_yield_waits": 985, "robot_yield_wait_s": 2564.026, "robot_yield_detours": 9, "register_crowd_max": 10, "register_crowd_mean": 2.5519, "register_pay_count": 81, "register_pay_not_at_back": 1, "register_pay_off_spot": 29, "register_pay_offset_mean_m": 0.2079, "register_pay_offset_max_m": 10.8752, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 43, "drink_bar_gave_up": 11, "drink_bar_wait_mean": 0.6276, "drink_bar_wait_p90": 0.9965, "gave_up": 43, "warped": 49, "table_freed": 23, "people_jam_total_s": 370.1008, "walkers_mean": 9.6111, "measured_minutes": 174.6253},
  "site_metrics": {"entry_wait_mean": 3.0575, "full_wait_mean": 0.0614, "staff_wait_mean": 1.7612, "blocked_wait_mean": 1.0941, "guide_wait_mean": 0.667, "seat_wait_mean": 1.1555, "dish_wait_mean": 3.829, "dish_wait_p90": 5.4148, "cold_share": 0.6406, "turn_mean": 4.9825, "walk_km_per_staff": 2.7368, "staff_util": 0.7726, "robot_util": 0.7943, "robot_share": 0.5899, "rescues": 9, "pauses": 191, "groups": 86},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r1_a42", "arrivals_minutes": 120, "total_minutes": 174.6253, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 403, "rescues_done": 8, "rescue_wait_s": 401.8561, "gave_up": 43, "warped": 49, "table_freed": 23},
  "site_result": {"dish_wait_mean": 2.097, "dish_wait_p90": 3.1635, "cold_share": 0.1431, "seat_wait_mean": 0.8897, "turn_mean": 4.3635, "walk_km_per_staff": 1.9834, "staff_util": 0.6504, "robot_util": 0.7491, "robot_share": 0.7197, "robot_bus_share": 0, "collects": 0, "rescues": 0.85, "pauses": 20.2, "fragile_robot": 31.675, "groups": 83.525, "entry_wait_mean": 1.3295, "blocked_wait_mean": 0.7256, "guide_wait_mean": 0.2571, "staff_wait_mean": 0.9827, "full_wait_mean": 0.1641},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p5_s4_r1_a42,0.95,normal,1,0,1,1,3,38.3101,65.3494,0.95,1,0.95,0,0,0,0,0.2813,0,3,0,,,0,0.5949,0,0,1,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,0,1,2,2,34.5752,61.9493,2.95,2,0.95;2,0,0,0,1,-0.0043,0,2;1,1,535.8627,626.2406,0,0.586,0,0,1,1,1,2,0.95
fam_p5_s4_r1_a42,0.95,normal,1,0,1,3,1,38.2651,65.5494,0.95,1,0.95,0,0,0,0,1.0121,0,1;3,2,567.5049;551.9088,738.2632;738.2632,0,0.5923,0,0,1,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,0,1,4,2,34.5602,59.0994,0.95,1,0.95,0,0,0,0,0.3877,0,2,2,707.7707;715.9187,853.885;853.885,0,0.5943,0,0,1,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,0,1,5,34,9.975,18.4,0.95,1,0.95,0,0,0,0,1.8655,0,34;35,1,858.3339,942.4634,0,0.5716,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,0,1,6,4,41.9399,76.8001,4.7,4,0.95;1.5;1.15;1.1,0,0,0,1,0.2081,0,4,2,920.8187;934.0654,1010.947;1010.947,0,0.5817,0,0,1,0,4,0,4.7
fam_p5_s4_r1_a42,0.95,normal,1,0,1,7,36,14.595,27.0999,1.4,2,0.95;0.45,0,0,0,1,0.4721,0,36;38,1,964.608,1112.88,0,0.5679,0,0,0,0,2,0,1.4

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p5_s4_r1_a42,0,1,1,535.95,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,0,1,2,626.35,16.8547,5.8278,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.855;5.828,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,0,1,2,653.5,1.9101,4.7152,A01,1,人が立ち止まっていた,Staff01,0,2,自分で動き出した,46.2242,84.665,46.2242,1.05,0,0,0.95,0,1.925;4.579,1.763;6.613,PathComplete,3,0.025
fam_p5_s4_r1_a42,0,1,3,738.4,16.8551,5.8281,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.855;5.828,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,0,1,4,858.5,16.8552,5.8282,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.855;5.828,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,0,1,5,942.65,16.8538,5.8274,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.854;5.827,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,0,1,6,1011.15,16.8532,5.8242,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.853;5.824,15.3;5.95,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r1_a42,0,1,3,3,0,535.8627,535.9127,626.2406,ロボット,0.05,90.3279,0,0,0,0,0,0
fam_p5_s4_r1_a42,0,3,2,2,0,567.5049,626.2906,738.2632,ロボット,58.7856,111.9727,0,0,0,1,0,0
fam_p5_s4_r1_a42,0,2,1,1,0,551.9088,626.2906,738.2632,ロボット,74.3818,111.9727,0,0,0,1,0,0
fam_p5_s4_r1_a42,0,4,1,1,0,707.7707,738.3132,853.885,ロボット,30.5425,115.5718,0,0,0,1,0,0
fam_p5_s4_r1_a42,0,5,3,3,0,715.9187,738.3132,853.885,ロボット,22.3945,115.5718,0,0,0,1,0,0
fam_p5_s4_r1_a42,0,6,2,2,0,858.3339,858.3839,942.4634,ロボット,0.05,84.0795,0,0,0,0,0,0
fam_p5_s4_r1_a42,0,7,34,4,0,920.8187,942.5134,1010.947,ロボット,21.6947,68.4333,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p5_s4_r1_a42,0,613.4437,スタッフ:Staff02,1,ロボット1号機,12.1738,5.191,,,1,3.45,1,1
fam_p5_s4_r1_a42,0,648.6851,スタッフ:Staff01,1,ロボット1号機,1.7344,4.7921,A01,,0,4.8,1,1
fam_p5_s4_r1_a42,0,653.5339,スタッフ:Staff01,1,ロボット1号機,1.9,5.213,A01,,0,2.4,0,1
fam_p5_s4_r1_a42,0,655.9833,スタッフ:Staff01,1,ロボット1号機,1.8841,7.3524,A01,,0,0.6,0,1
fam_p5_s4_r1_a42,0,657.7329,スタッフ:Staff01,1,ロボット1号機,1.8831,7.875,A01,,0,1.8,0,1
fam_p5_s4_r1_a42,0,661.1821,スタッフ:Staff01,1,ロボット1号機,1.8703,8.3148,A01,,0,1.35,0,1
fam_p5_s4_r1_a42,0,664.1813,スタッフ:Staff01,1,ロボット1号機,1.8646,8.3096,A01,,0,1.35,0,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r1_a42,0,1599.855,客,ドリンクバー,1,1.763,4.762,5.2641,3.8488,,60,移した
fam_p5_s4_r1_a42,0,1751.403,客,ドリンクバー,3,17.3,3.9,12.3429,3.8884,,60,あきらめた
fam_p5_s4_r1_a42,0,1957.554,客,ドリンクバー,2,1.763,6.613,1.5664,6.0959,A01,60,移した
fam_p5_s4_r1_a42,0,1985.531,客,ドリンクバー,38,18.8,3.9,19.162,2.188,,0,あきらめた
fam_p5_s4_r1_a42,0,2033.478,客,ドリンクバー,3,1.763,8.462,1.7166,6.0711,A01,60,移した
fam_p5_s4_r1_a42,0,2262.352,スタッフ,料理を運ぶ,11,15.3,5.95,5.5857,4.5035,,60.0494,あきらめた
fam_p5_s4_r1_a42,0,2358.395,客,ドリンクバー,6,1.763,6.812,6.671,3.8452,,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r1_a42,0,1,4,1,4,56.4194,56.4194,119.2227,2333.03,2402.889,2496.08,2496.08,1.0467,0,Done
fam_p5_s4_r1_a42,0,2,3,2,4,95.8213,95.8213,161.2752,2430.124,2430.165,2603.534,2603.534,1.0909,0,Done
fam_p5_s4_r1_a42,0,3,4,3,4,103.0217,103.0217,171.1758,3047.394,3047.417,3142.51,3142.51,1.1359,0,Done
fam_p5_s4_r1_a42,0,4,2,34,2,334.1619,334.1619,407.9939,3371.106,3371.133,3488.047,3488.047,1.2305,0,Done
fam_p5_s4_r1_a42,0,5,1,35,2,424.5898,424.5898,499.2216,3493.101,3493.102,3717.371,3717.371,1.2439,0,Done
fam_p5_s4_r1_a42,0,6,4,4,4,434.8373,434.8373,504.5203,4017.549,4064.109,4420.518,4420.518,1.1614,0,Done
fam_p5_s4_r1_a42,0,7,1,36,2,485.9749,485.9749,563.106,3723.116,3723.127,3852.503,3852.503,1.2855,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p5_s4_r1_a42,0,653.184,1.9,5.213,A01,,スタッフ:Staff01,0,1,8.5304
fam_p5_s4_r1_a42,0,696.7234,1.5187,5.4947,A01,,スタッフ:Staff01,0,1,9.3692
fam_p5_s4_r1_a42,0,729.3154,12.2913,3.9921,,,スタッフ:Staff01,0,1,8.8484
fam_p5_s4_r1_a42,0,1707.71,1.5296,8.9167,A01,,客:Guest(Clone),0,1,9.8865
fam_p5_s4_r1_a42,0,1747.099,8.9515,4.0078,,,客:Guest(Clone),0,1,9.9238
fam_p5_s4_r1_a42,0,2314.102,5.79,4.5482,,,スタッフ:Staff02,1,1,9.3881
fam_p5_s4_r1_a42,0,2407.693,5.2145,4.8819,A02,,スタッフ:Staff04,0,1,8.6076

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:13:28",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:24:08",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.8111, "dish_wait_p90": 5.7478, "cold_share": 0.6463, "seat_wait_mean": 7.0182, "turn_mean": 6.1382, "robot_share": 0.6179, "robot_dishes": 152, "staff_dishes": 94, "requeued_dishes": 1, "late_staff_dishes": 94, "late_staff_share": 0.3821, "robot_first_wait_s": 120, "yields": 2839, "yields_by_robot": 0, "yields_by_staff": 2560, "yields_by_guest": 279, "yields_stepped_aside": 211, "yields_in_corner": 74, "yields_passed": 583, "yield_wait_s": 3219.434, "yield_wait_mean_s": 1.134, "staff_yields": 2560, "staff_yield_wait_s": 2367.006, "staff_yield_mean_s": 0.9246, "staff_yield_share_of_staff_time": 0.0481, "staff_time_total_s": 49197.57, "corner_stops": 18, "corner_stop_s": 200.7483, "corner_stop_count_share": 0.0841, "corner_stop_time_share": 0.1584, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 95, "people_jams": 726, "robot_blocked_jams": 688, "robot_blocked_jam_share": 0.9477, "chair_pulls": 199, "robot_contacts": 58, "robot_yield_waits": 2845, "robot_yield_wait_s": 3186.583, "robot_yield_detours": 10, "register_crowd_max": 9, "register_crowd_mean": 2.7665, "register_pay_count": 92, "register_pay_not_at_back": 0, "register_pay_off_spot": 13, "register_pay_offset_mean_m": 0.034, "register_pay_offset_max_m": 0.275, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 39, "drink_bar_gave_up": 16, "drink_bar_wait_mean": 0.6274, "drink_bar_wait_p90": 0.9965, "gave_up": 56, "warped": 60, "table_freed": 35, "people_jam_total_s": 786.3948, "walkers_mean": 10.7722, "measured_minutes": 204.855},
  "site_metrics": {"entry_wait_mean": 9.0647, "full_wait_mean": 3.0797, "staff_wait_mean": 4.7009, "blocked_wait_mean": 3.9385, "guide_wait_mean": 0.7623, "seat_wait_mean": 7.0182, "dish_wait_mean": 3.8111, "dish_wait_p90": 5.7478, "cold_share": 0.6463, "turn_mean": 6.1382, "walk_km_per_staff": 2.8305, "staff_util": 0.7322, "robot_util": 0.7773, "robot_share": 0.6179, "rescues": 9, "pauses": 205, "groups": 95},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r1_a42", "arrivals_minutes": 120, "total_minutes": 204.855, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 2144, "rescues_done": 9, "rescue_wait_s": 477.1989, "gave_up": 56, "warped": 60, "table_freed": 35},
  "site_result": {"dish_wait_mean": 2.097, "dish_wait_p90": 3.1635, "cold_share": 0.1431, "seat_wait_mean": 0.8897, "turn_mean": 4.3635, "walk_km_per_staff": 1.9834, "staff_util": 0.6504, "robot_util": 0.7491, "robot_share": 0.7197, "robot_bus_share": 0, "collects": 0, "rescues": 0.85, "pauses": 20.2, "fragile_robot": 31.675, "groups": 83.525, "entry_wait_mean": 1.3295, "blocked_wait_mean": 0.7256, "guide_wait_mean": 0.2571, "staff_wait_mean": 0.9827, "full_wait_mean": 0.1641},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p5_s4_r1_a42,0.95,normal,1,1,1,1,34,9.48,17.3,0.95,1,0.95,0,0,0,0,1.6613,0,34,0,,,0,0.5798,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,1,1,2,35,9.42,17.2,0.95,1,0.95,0,0,0,0,0.3905,0,35,1,571.7039,614.0436,0,0.5797,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,1,1,3,36,10.32,18.7,0.95,1,0.95,0,0,0,0,1.8641,0,36,1,805.5468,847.7865,0,0.5814,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,1,1,4,35,9.48,17.3,0.95,1,0.95,0,0,0,0,2.2997,0,35,1,860.1335,903.8728,0,0.5798,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,1,1,5,37,38.1151,67.1995,2.3,2,0.95;1.35,0,0,0,1,-0.0003,0,37;1,1,877.7292,946.2125,0,0.5873,0,0,1,0,2,0,2.3
fam_p5_s4_r1_a42,0.95,normal,1,1,1,6,34,11.415,20.8,0.95,1,0.95,0,0,0,0,1.527,0,34;36,2,938.6643;937.3646,1063.532;1063.532,0,0.5751,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,1,1,7,38,14.61,26.8499,1.4,2,0.95;0.45,0,0,0,1,0.8693,0,38,2,1044.113;990.9016,1134.501;1134.501,0,0.5741,0,0,0,0,2,0,1.4

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p5_s4_r1_a42,1,1,1,571.8,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,1,1,2,805.7,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,1,1,3,860.3,16.851,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,1,1,4,904.05,16.8575,5.833,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.858;5.833,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,1,1,5,946.4,16.8509,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,1,1,5,984.55,17.3622,2.2933,,0,スタッフとすれ違った,Staff02,0,1.35,自分で動き出した,67.2012,26.155,26.155,0.4,0,0,0.95,0,17.838;2.227,2.062;4.413,PathComplete,2,0.025
fam_p5_s4_r1_a42,1,1,6,1063.7,16.8517,5.8257,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.826,15.3;5.95,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r1_a42,1,1,34,1,0,571.7039,571.7539,614.0436,ロボット,0.05,42.2897,0,0,0,0,0,0
fam_p5_s4_r1_a42,1,2,35,2,0,805.5468,805.5968,847.7865,ロボット,0.05,42.1897,0,0,0,0,0,0
fam_p5_s4_r1_a42,1,3,36,3,0,860.1335,860.1835,903.8728,ロボット,0.05,43.6893,0,0,0,0,0,0
fam_p5_s4_r1_a42,1,4,35,2,0,877.7292,903.9228,946.2125,ロボット,26.1936,42.2897,0,0,0,0,0,0
fam_p5_s4_r1_a42,1,6,37,5,0,938.6643,946.2625,1063.532,ロボット,7.5981,117.2695,0,0,0,1,0,0
fam_p5_s4_r1_a42,1,5,1,4,0,937.3646,946.2625,1063.532,ロボット,8.8978,117.2695,0,0,0,1,0,0
fam_p5_s4_r1_a42,1,8,34,1,0,1044.113,1063.582,1134.501,ロボット,19.469,70.9192,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p5_s4_r1_a42,1,809.7458,スタッフ:Staff02,1,ロボット1号機,16.2292,2.9764,,,0,4.45,1,1
fam_p5_s4_r1_a42,1,983.6533,スタッフ:Staff02,1,ロボット1号機,17.0839,2.55,,,0,0.8,1,1
fam_p5_s4_r1_a42,1,1029.048,スタッフ:Staff01,1,ロボット1号機,0.8315,2.2428,,,0,9.3,0,1
fam_p5_s4_r1_a42,1,1231.846,スタッフ:Staff01,1,ロボット1号機,0.9715,2.2874,,,0,27.2499,0,1
fam_p5_s4_r1_a42,1,1338.7,スタッフ:Staff01,1,ロボット1号機,11.6525,4.5501,,,1,4.3,1,1
fam_p5_s4_r1_a42,1,1348.41,スタッフ:Staff01,1,ロボット1号機,8.582,3.7025,,,0,0.15,1,1
fam_p5_s4_r1_a42,1,1528.085,スタッフ:Staff01,1,ロボット1号機,5.3004,4.737,,,0,4.65,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r1_a42,1,2246.436,客,ドリンクバー,3,18.3,3.9,1.5765,9.1469,A01,60,あきらめた
fam_p5_s4_r1_a42,1,2253.993,客,ドリンクバー,8,19.3,3.9,1.6619,7.629,A01,60,あきらめた
fam_p5_s4_r1_a42,1,2279.018,客,ドリンクバー,3,17.3,3.9,2.0144,4.4849,,60,あきらめた
fam_p5_s4_r1_a42,1,2393.63,客,ドリンクバー,3,1.763,8.462,1.8786,6.3029,A01,60,移した
fam_p5_s4_r1_a42,1,2407.743,客,ドリンクバー,9,18.8,3.9,5.212,4.962,A02,0,あきらめた
fam_p5_s4_r1_a42,1,2409.996,客,ドリンクバー,6,18.8,3.9,1.763,6.812,A01,0,あきらめた
fam_p5_s4_r1_a42,1,2410.046,客,ドリンクバー,2,18.8,3.9,1.763,6.613,A01,0,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r1_a42,1,1,1,34,2,43.2696,43.2696,117.0225,2907.41,2907.431,3008.379,3008.379,1.2292,0,Done
fam_p5_s4_r1_a42,1,2,2,35,2,175.5261,175.5261,250.4807,2497.401,2497.431,2594.826,2594.826,1.2492,0,Done
fam_p5_s4_r1_a42,1,3,2,36,2,194.3773,194.3773,271.0273,2934.902,2934.908,3110.279,3110.279,1.2775,0,Done
fam_p5_s4_r1_a42,1,4,3,1,4,396.7966,396.7966,459.5813,2633.847,2633.864,2815.792,2815.792,1.0464,0,Done
fam_p5_s4_r1_a42,1,5,1,37,2,437.2867,437.2867,517.7171,3245.286,3245.311,3380.392,3380.392,1.3405,0,Done
fam_p5_s4_r1_a42,1,6,4,2,4,704.7714,704.7714,769.0557,3719.792,3776.279,3918.467,3918.467,1.0714,0,Done
fam_p5_s4_r1_a42,1,7,2,38,2,724.3167,724.3167,805.8967,3219.277,3544.302,3776.579,3776.579,1.3597,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p5_s4_r1_a42,1,983.8033,17.1119,2.5404,,,スタッフ:Staff02,0,1,7.1286
fam_p5_s4_r1_a42,1,2232.522,1.9,8.95,A01,,客:Guest(Clone),0,1,9.6352
fam_p5_s4_r1_a42,1,2233.023,1.5,8.8997,A01,,客:Guest(Clone),0,1,9.7608
fam_p5_s4_r1_a42,1,2424.56,15.5003,5.322,,,スタッフ:Staff02,0,1,7.4862
fam_p5_s4_r1_a42,1,2466.301,19.3228,2.55,,,スタッフ:Staff03,0,1,8.4812
fam_p5_s4_r1_a42,1,2595.877,19.6048,1.67,,,スタッフ:Staff04,0,1,9.861
fam_p5_s4_r1_a42,1,2598.279,19.162,2.188,,,客:Guest(Clone),0,1,3.7693

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:24:09",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:34:39",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.5781, "dish_wait_p90": 5.0456, "cold_share": 0.6626, "seat_wait_mean": 9.8752, "turn_mean": 4.6387, "robot_share": 0.6585, "robot_dishes": 162, "staff_dishes": 84, "requeued_dishes": 0, "late_staff_dishes": 84, "late_staff_share": 0.3415, "robot_first_wait_s": 120, "yields": 1232, "yields_by_robot": 0, "yields_by_staff": 1086, "yields_by_guest": 146, "yields_stepped_aside": 171, "yields_in_corner": 60, "yields_passed": 364, "yield_wait_s": 2312.087, "yield_wait_mean_s": 1.8767, "staff_yields": 1086, "staff_yield_wait_s": 1764.56, "staff_yield_mean_s": 1.6248, "staff_yield_share_of_staff_time": 0.0367, "staff_time_total_s": 48041.5, "corner_stops": 13, "corner_stop_s": 67.4995, "corner_stop_count_share": 0.0703, "corner_stop_time_share": 0.0852, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 99, "people_jams": 228, "robot_blocked_jams": 189, "robot_blocked_jam_share": 0.8289, "chair_pulls": 221, "robot_contacts": 33, "robot_yield_waits": 1238, "robot_yield_wait_s": 2291.66, "robot_yield_detours": 12, "register_crowd_max": 10, "register_crowd_mean": 3.1105, "register_pay_count": 89, "register_pay_not_at_back": 1, "register_pay_off_spot": 12, "register_pay_offset_mean_m": 0.1528, "register_pay_offset_max_m": 11.0499, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 37, "drink_bar_gave_up": 19, "drink_bar_wait_mean": 0.6443, "drink_bar_wait_p90": 0.9965, "gave_up": 40, "warped": 56, "table_freed": 22, "people_jam_total_s": 323.2992, "walkers_mean": 11.7758, "measured_minutes": 200.0514},
  "site_metrics": {"entry_wait_mean": 11.4668, "full_wait_mean": 6.8818, "staff_wait_mean": 3.353, "blocked_wait_mean": 2.9934, "guide_wait_mean": 0.3596, "seat_wait_mean": 9.8752, "dish_wait_mean": 3.5781, "dish_wait_p90": 5.0456, "cold_share": 0.6626, "turn_mean": 4.6387, "walk_km_per_staff": 3.0049, "staff_util": 0.7539, "robot_util": 0.7679, "robot_share": 0.6585, "rescues": 2, "pauses": 183, "groups": 99},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r1_a42", "arrivals_minutes": 120, "total_minutes": 200.0514, "everyone_left": true, "aisle_deferrals": 0, "staff_first_yield": true, "robot_stuck_detours": 775, "rescues_done": 2, "rescue_wait_s": 105.999, "gave_up": 40, "warped": 56, "table_freed": 22},
  "site_result": {"dish_wait_mean": 2.097, "dish_wait_p90": 3.1635, "cold_share": 0.1431, "seat_wait_mean": 0.8897, "turn_mean": 4.3635, "walk_km_per_staff": 1.9834, "staff_util": 0.6504, "robot_util": 0.7491, "robot_share": 0.7197, "robot_bus_share": 0, "collects": 0, "rescues": 0.85, "pauses": 20.2, "fragile_robot": 31.675, "groups": 83.525, "entry_wait_mean": 1.3295, "blocked_wait_mean": 0.7256, "guide_wait_mean": 0.2571, "staff_wait_mean": 0.9827, "full_wait_mean": 0.1641},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p5_s4_r1_a42,0.95,normal,1,2,1,1,34,9.48,17.3,0.95,1,0.95,0,0,0,0,1.528,0,34,0,,,0,0.5798,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,2,1,2,35,9.42,18.3,2.05,2,0.95;1.1,0,0,0,0,1.5276,0,35,1,458.5815,500.9212,0,0.5797,0,0,0,0,2,0,2.05
fam_p5_s4_r1_a42,0.95,normal,1,2,1,3,1,30.9903,53.1495,0.95,1,0.95,0,0,0,0,1.4069,0,1,1,581.7015,625.0409,0,0.5937,0,0,1,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,2,1,4,36,10.32,18.7,0.95,1,0.95,0,0,0,0,1.5284,0,36,1,618.5425,703.2218,0,0.5814,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,2,1,5,38,14.61,26.8499,1.4,2,0.95;0.45,0,0,0,1,1.8677,0,38,1,679.6276,746.9611,0,0.5741,0,0,0,0,2,0,1.4
fam_p5_s4_r1_a42,0.95,normal,1,2,1,6,34,9.45,17.25,0.95,1,0.95,0,0,0,0,1.8675,0,34,1,729.8653,798.8484,0,0.5798,0,0,0,0,1,0,0.95
fam_p5_s4_r1_a42,0.95,normal,1,2,1,7,39,16.83,30.5498,1.4,2,0.95;0.45,0,0,0,1,1.5284,0,39,1,770.9553,841.1381,0,0.5774,0,0,0,0,2,0,1.4

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p5_s4_r1_a42,2,1,1,458.65,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,2,1,2,581.8,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,2,1,2,616.15,15.8394,2.4362,,0,椅子・荷物・ベビーカー,Table35/Chair,0,1.1,自分で動き出した,275,275,275,0.15,0,0,0.95,0,15.839;2.436,15.3;4.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,2,1,3,625.15,16.851,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,2,1,4,703.35,16.8534,5.8271,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.853;5.827,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,2,1,5,747.1,16.8575,5.833,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.858;5.833,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r1_a42,2,1,5,786.9,18.5359,2.2299,,0,椅子・荷物・ベビーカー,Table37/Chair,0,0.45,自分で動き出した,88.1099,32.0672,32.0672,0,0,0,0.45,0,18.925;2.212,16.738;2.312,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r1_a42,2,1,34,1,0,458.5815,458.6315,500.9212,ロボット,0.05,42.2897,0,0,0,0,0,0
fam_p5_s4_r1_a42,2,2,35,2,0,581.7015,581.7515,625.0409,ロボット,0.05,43.2894,0,0,0,0,0,0
fam_p5_s4_r1_a42,2,3,1,4,0,618.5425,625.0909,703.2218,ロボット,6.5484,78.1309,0,0,0,0,0,0
fam_p5_s4_r1_a42,2,4,36,3,0,679.6276,703.2718,746.9611,ロボット,23.6442,43.6893,0,0,0,0,0,0
fam_p5_s4_r1_a42,2,5,38,6,0,729.8653,747.0111,798.8484,ロボット,17.1458,51.8373,0,0,0,0,0,0
fam_p5_s4_r1_a42,2,6,34,1,0,770.9553,798.8984,841.1381,ロボット,27.9432,42.2397,0,0,0,0,0,0
fam_p5_s4_r1_a42,2,7,39,7,0,829.191,841.1881,896.7245,ロボット,11.9971,55.5364,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p5_s4_r1_a42,2,1219.534,スタッフ:Staff02,1,ロボット1号機,1.1815,2.0505,,,0,2.4,0,1
fam_p5_s4_r1_a42,2,1370.331,スタッフ:Staff01,1,ロボット1号機,0.9972,2.3704,,,0,4.65,0,1
fam_p5_s4_r1_a42,2,1380.892,スタッフ:Staff04,1,ロボット1号機,8.7748,4.5327,,,0,4.6,1,1
fam_p5_s4_r1_a42,2,1824.975,スタッフ:Staff01,1,ロボット1号機,7.1216,3.7646,,,0,1.35,1,1
fam_p5_s4_r1_a42,2,1894.192,客:Guest(Clone),2,ロボット1号機,1.8292,6.6849,A01,,0,1.45,0,1
fam_p5_s4_r1_a42,2,1897.145,客:Guest(Clone),2,ロボット1号機,1.8698,6.6877,A01,,0,1.45,0,1
fam_p5_s4_r1_a42,2,1900.098,客:Guest(Clone),2,ロボット1号機,1.8885,6.6902,A01,,0,1.45,0,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r1_a42,2,1639.644,客,トイレ,39,20.263,2.188,16.9231,2.55,,60,移した
fam_p5_s4_r1_a42,2,2233.674,客,ドリンクバー,4,1.763,10.312,5.0283,12.5296,A02,60,移した
fam_p5_s4_r1_a42,2,2374.261,客,ドリンクバー,3,1.763,8.462,2.6944,4.5235,,60,移した
fam_p5_s4_r1_a42,2,2613.694,客,ドリンクバー,4,1.763,10.312,1.8494,6.2985,A01,60,移した
fam_p5_s4_r1_a42,2,2761.438,客,トイレ,40,21.362,2.188,19.2833,2.313,,60,移した
fam_p5_s4_r1_a42,2,2967.69,客,ドリンクバー,12,5.212,10.513,8.4326,4.5227,,60,移した
fam_p5_s4_r1_a42,2,2993.515,客,ドリンクバー,7,1.763,8.662,1.8258,5.5513,A01,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r1_a42,2,1,2,34,2,31.8198,31.8198,106.5219,3306.932,3306.971,3635.191,3635.191,1.245,0,Done
fam_p5_s4_r1_a42,2,2,1,35,2,51.4195,51.4195,128.3232,3218.687,3218.735,3430.992,3430.992,1.2817,0,Done
fam_p5_s4_r1_a42,2,3,2,36,2,80.4203,80.4203,159.2251,2963.829,2963.836,3065.085,3065.085,1.3134,0,Done
fam_p5_s4_r1_a42,2,4,4,1,4,171.0758,171.0758,234.4797,3411.172,3411.172,3737.791,3737.791,1.0567,0,Done
fam_p5_s4_r1_a42,2,5,1,37,2,180.2264,180.2264,258.7803,3136.643,3136.655,3238.104,3238.104,1.3092,0,Done
fam_p5_s4_r1_a42,2,6,1,38,2,237.2799,237.2799,305.6189,3144.737,3144.762,3340.804,3340.804,1.139,0,Done
fam_p5_s4_r1_a42,2,7,2,39,2,252.6808,252.6808,333.3121,3281.247,3281.296,3533.742,3533.742,1.3439,0,Done

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:34:40",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:19:48",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.9381, "dish_wait_p90": 6.411, "cold_share": 0.5882, "seat_wait_mean": 13.1139, "turn_mean": 4.6651, "robot_share": 0.7463, "robot_dishes": 203, "staff_dishes": 69, "requeued_dishes": 6, "late_staff_dishes": 69, "late_staff_share": 0.2537, "robot_first_wait_s": 120, "yields": 3706, "yields_by_robot": 81, "yields_by_staff": 2871, "yields_by_guest": 754, "yields_stepped_aside": 338, "yields_in_corner": 165, "yields_passed": 1010, "yield_wait_s": 7812.228, "yield_wait_mean_s": 2.108, "staff_yields": 2871, "staff_yield_wait_s": 3519.451, "staff_yield_mean_s": 1.2259, "staff_yield_share_of_staff_time": 0.0676, "staff_time_total_s": 52085.65, "corner_stops": 41, "corner_stop_s": 816.2423, "corner_stop_count_share": 0.093, "corner_stop_time_share": 0.1488, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 106, "people_jams": 937, "robot_blocked_jams": 873, "robot_blocked_jam_share": 0.9317, "chair_pulls": 194, "robot_contacts": 103, "robot_yield_waits": 3643, "robot_yield_wait_s": 5838.139, "robot_yield_detours": 22, "register_crowd_max": 11, "register_crowd_mean": 2.5893, "register_pay_count": 91, "register_pay_not_at_back": 1, "register_pay_off_spot": 20, "register_pay_offset_mean_m": 0.1717, "register_pay_offset_max_m": 11.6886, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 45, "drink_bar_gave_up": 25, "drink_bar_wait_mean": 0.8231, "drink_bar_wait_p90": 1.003, "gave_up": 106, "warped": 107, "table_freed": 45, "people_jam_total_s": 1178.843, "walkers_mean": 11.6432, "measured_minutes": 216.8588},
  "site_metrics": {"entry_wait_mean": 15.0673, "full_wait_mean": 9.85, "staff_wait_mean": 3.9569, "blocked_wait_mean": 3.2639, "guide_wait_mean": 0.693, "seat_wait_mean": 13.1139, "dish_wait_mean": 3.9381, "dish_wait_p90": 6.411, "cold_share": 0.5882, "turn_mean": 4.6651, "walk_km_per_staff": 3.0054, "staff_util": 0.7428, "robot_util": 0.7209, "robot_share": 0.7463, "rescues": 61, "pauses": 380, "groups": 106},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 216.8588, "everyone_left": true, "aisle_deferrals": 38, "staff_first_yield": true, "robot_stuck_detours": 2336, "rescues_done": 59, "rescue_wait_s": 2414.564, "gave_up": 106, "warped": 107, "table_freed": 45},
  "site_result": {"dish_wait_mean": 1.0497, "dish_wait_p90": 2.1196, "cold_share": 0.0157, "seat_wait_mean": 1.191, "turn_mean": 3.9675, "walk_km_per_staff": 1.6822, "staff_util": 0.6219, "robot_util": 0.6062, "robot_share": 0.9898, "robot_bus_share": 0, "collects": 0, "rescues": 1.575, "pauses": 43.25, "fragile_robot": 42.05, "groups": 84.4, "entry_wait_mean": 1.5915, "blocked_wait_mean": 0.7992, "guide_wait_mean": 0.2173, "staff_wait_mean": 1.0166, "full_wait_mean": 0.3917},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p5_s4_r2_a42,0.95,normal,2,0,1,1,3,38.3101,72.3498,7.4,2,0.95;6.45,0,0,0,1,0.3044,1,3,0,,,0,0.5898,0,0,1,0,2,0,7.4
fam_p5_s4_r2_a42,0.95,normal,2,0,2,2,2,36.8551,70.0497,6.7,3,0.95;4.25;1.5,0,0,0,1,0.2015,1,2;1,0,,,0,0.5818,0,0,1,0,3,0,6.7
fam_p5_s4_r2_a42,0.95,normal,2,0,1,3,1,30.9903,58.5994,5.85,2,0.95;4.9,0,0,0,1,0.3,1,1,1,535.8627,633.2389,0,0.5875,0,0,1,0,2,0,5.85
fam_p5_s4_r2_a42,0.95,normal,2,0,2,4,3,40.5,73.6999,4.55,3,0.95;2.7;0.9,0,0,0,1,0.1242,1,3,2,567.5049;551.9088,720.2676;720.2676,0,0.5857,0,0,1,0,3,0,4.55
fam_p5_s4_r2_a42,0.95,normal,2,0,1,5,2,34.5602,59.0994,0.95,1,0.95,0,0,0,0,0.3665,0,2,1,707.7707,791.4003,0,0.5943,0,0,1,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,0,2,6,34,11.04,19.9,0.95,1,0.95,0,0,0,0,1.8748,0,34,1,715.9187,858.3839,0,0.5826,0,0,0,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,0,1,7,35,9.42,17.2,0.95,1,0.95,0,0,0,0,1.8655,0,35,1,858.3339,942.4634,0,0.5797,0,0,0,0,1,0,0.95

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p5_s4_r2_a42,0,1,1,535.95,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,1,613.9,9.9748,4.4422,,0,もう1台のロボット,ServingRobot02,0,6.45,自分で動き出した,10.7894,239.2553,10.7894,5.5,0,0,0.95,0,1.869;4.627,11.663;4.413,PathComplete,3,0.025
fam_p5_s4_r2_a42,0,2,2,600.25,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,2,2,613.9,10.6933,4.4889,,0,もう1台のロボット,ServingRobot01,0,4.25,自分で動き出した,243.8956,6.1157,6.1157,2.75,0,0,1.5,0,10.693;4.489,10.693;3.563,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,2,2,621.65,9.6325,3.8784,,0,人が立ち止まっていた,Staff02,0,1.5,自分で動き出した,183.6672,67.5228,67.5228,0.55,0,0,0.95,0,9.635;3.878,1.788;4.612,PathComplete,3,0.025
fam_p5_s4_r2_a42,0,1,3,707.9,16.8547,5.8278,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.855;5.828,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,0,1,3,773.5,9.8795,4.4437,,0,もう1台のロボット,ServingRobot02,0,4.9,自分で動き出した,10.6361,239.4083,10.6361,3.95,0,0,0.95,0,1.904;4.603,11.663;4.413,PathComplete,3,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r2_a42,0,1,3,3,0,535.8627,535.9127,633.2389,ロボット,0.05,97.3262,0,0,0,0,0,0
fam_p5_s4_r2_a42,0,3,2,2,0,567.5049,600.197,720.2676,ロボット,32.692,120.0707,0,0,0,1,0,1
fam_p5_s4_r2_a42,0,2,1,1,0,551.9088,600.197,720.2676,ロボット,48.2882,120.0707,0,0,0,1,0,1
fam_p5_s4_r2_a42,0,4,1,1,0,707.7707,707.8207,791.4003,ロボット,0.05,83.5796,0,0,0,0,0,0
fam_p5_s4_r2_a42,0,5,3,3,0,715.9187,759.708,858.3839,ロボット,43.7893,98.6759,0,0,0,1,0,1
fam_p5_s4_r2_a42,0,6,2,2,0,858.3339,858.3839,942.4634,ロボット,0.05,84.0795,0,0,0,0,0,0
fam_p5_s4_r2_a42,0,7,34,4,0,920.8187,920.8687,965.7577,ロボット,0.05,44.889,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p5_s4_r2_a42,0,613.4937,スタッフ:Staff02,1,ロボット1号機,12.1911,5.1843,,,1,0.4,1,1
fam_p5_s4_r2_a42,0,615.2933,ロボット2号機,0,ロボット1号機,10.6933,4.4889,,,1,6.25,1,1
fam_p5_s4_r2_a42,0,618.5425,スタッフ:Staff02,1,ロボット2号機,8.759,3.5983,,,0,3.1,1,1
fam_p5_s4_r2_a42,0,623.1414,スタッフ:Staff02,1,ロボット2号機,7.5374,3.5214,,,0,3.6,1,1
fam_p5_s4_r2_a42,0,644.4362,スタッフ:Staff01,1,ロボット2号機,0.8,2.0331,,,0,49.3495,0,1
fam_p5_s4_r2_a42,0,700.4725,スタッフ:Staff04,1,ロボット2号機,9.1349,4.1216,,,0,4.45,1,1
fam_p5_s4_r2_a42,0,712.3196,スタッフ:Staff01,1,ロボット1号機,12.3279,5.2423,,,1,4.35,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r2_a42,0,1649.003,スタッフ,立ち往生を動かす,0,19.9017,2.2971,19.478,2.2272,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1709.162,スタッフ,立ち往生を動かす,0,19.8963,2.2254,19.491,2.1325,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1769.321,スタッフ,立ち往生を動かす,0,19.8971,2.1577,19.5726,1.9322,,60.0494,移した
fam_p5_s4_r2_a42,0,1869.919,スタッフ,料理を運ぶ,39,20.263,2.188,20.1266,1.5681,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1915.563,スタッフ,立ち往生を動かす,0,19.8982,2.2617,19.4777,2.2168,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,1937.585,スタッフ,料理を運ぶ,39,20.263,2.188,20.1266,1.5681,,60.0494,あきらめた
fam_p5_s4_r2_a42,0,2104.498,スタッフ,案内,29,0.9,2.1,1.138,1.7818,,60.0494,あきらめた

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r2_a42,0,1,4,1,4,56.4194,56.4194,119.2227,2888.754,2888.763,3016.587,3016.587,1.0467,0,Done
fam_p5_s4_r2_a42,0,2,3,2,4,95.8213,95.8213,161.2752,2967.573,2967.59,3119.288,3119.288,1.0909,0,Done
fam_p5_s4_r2_a42,0,3,4,3,4,103.0217,103.0217,171.1758,2427.404,2507.291,2610.041,2610.041,1.1359,0,Done
fam_p5_s4_r2_a42,0,4,2,34,2,334.1619,334.1619,407.9939,3285.866,3285.9,3392.454,3392.454,1.2305,0,Done
fam_p5_s4_r2_a42,0,5,1,35,2,424.5898,424.5898,499.2216,3273.117,3328.191,3482.642,3482.642,1.2439,0,Done
fam_p5_s4_r2_a42,0,6,4,4,4,434.8373,434.8373,504.5203,2756.216,2812.839,2913.787,2913.787,1.1614,0,Done
fam_p5_s4_r2_a42,0,7,1,0,0,485.9749,485.9749,563.106,4099.78,4099.826,4410.458,4410.458,1.2855,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p5_s4_r2_a42,0,1769.321,19.8971,2.1577,,,スタッフ:Staff01,0,2,-11.0752
fam_p5_s4_r2_a42,0,1939.036,19.83,1.8975,,,スタッフ:Staff03,0,2,9.5874
fam_p5_s4_r2_a42,0,2010.606,19.3033,1.8115,,,スタッフ:Staff03,0,2,9.1367
fam_p5_s4_r2_a42,0,2035.931,8.7003,4.9307,A03,,スタッフ:Staff01,0,1,9.203
fam_p5_s4_r2_a42,0,2139.882,6.013,4.55,,,スタッフ:Staff02,0,1,8.4005
fam_p5_s4_r2_a42,0,2423.108,6.5916,4.55,,,客:Guest(Clone),0,2,9.5148
fam_p5_s4_r2_a42,0,2500.384,7.6921,3.9542,,,客:Guest(Clone),0,1,9.6088

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 00:19:49",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:44:07",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.0426, "dish_wait_p90": 5.6579, "cold_share": 0.3923, "seat_wait_mean": 0, "turn_mean": 3.6482, "robot_share": 0.7569, "robot_dishes": 137, "staff_dishes": 44, "requeued_dishes": 2, "late_staff_dishes": 44, "late_staff_share": 0.2431, "robot_first_wait_s": 120, "yields": 2265, "yields_by_robot": 156, "yields_by_staff": 1855, "yields_by_guest": 254, "yields_stepped_aside": 402, "yields_in_corner": 192, "yields_passed": 783, "yield_wait_s": 3780.708, "yield_wait_mean_s": 1.6692, "staff_yields": 1855, "staff_yield_wait_s": 1923.324, "staff_yield_mean_s": 1.0368, "staff_yield_share_of_staff_time": 0.0448, "staff_time_total_s": 42954.96, "corner_stops": 51, "corner_stop_s": 756.6434, "corner_stop_count_share": 0.1121, "corner_stop_time_share": 0.216, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 71, "people_jams": 341, "robot_blocked_jams": 318, "robot_blocked_jam_share": 0.9326, "chair_pulls": 155, "robot_contacts": 65, "robot_yield_waits": 2114, "robot_yield_wait_s": 2659.619, "robot_yield_detours": 4, "register_crowd_max": 9, "register_crowd_mean": 2.2577, "register_pay_count": 69, "register_pay_not_at_back": 0, "register_pay_off_spot": 0, "register_pay_offset_mean_m": 0, "register_pay_offset_max_m": 0, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 26, "drink_bar_gave_up": 11, "drink_bar_wait_mean": 0.8114, "drink_bar_wait_p90": 1.002, "gave_up": 57, "warped": 46, "table_freed": 4, "people_jam_total_s": 929.2074, "walkers_mean": 8.2911, "measured_minutes": 178.8562},
  "site_metrics": {"entry_wait_mean": 1.7955, "full_wait_mean": 0, "staff_wait_mean": 0.5522, "blocked_wait_mean": 0, "guide_wait_mean": 0.5522, "seat_wait_mean": 0, "dish_wait_mean": 3.0426, "dish_wait_p90": 5.6579, "cold_share": 0.3923, "turn_mean": 3.6482, "walk_km_per_staff": 2.5108, "staff_util": 0.6973, "robot_util": 0.6137, "robot_share": 0.7569, "rescues": 32, "pauses": 423, "groups": 71},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 178.8562, "everyone_left": true, "aisle_deferrals": 33, "staff_first_yield": true, "robot_stuck_detours": 1377, "rescues_done": 30, "rescue_wait_s": 1259.462, "gave_up": 57, "warped": 46, "table_freed": 4},
  "site_result": {"dish_wait_mean": 1.0497, "dish_wait_p90": 2.1196, "cold_share": 0.0157, "seat_wait_mean": 1.191, "turn_mean": 3.9675, "walk_km_per_staff": 1.6822, "staff_util": 0.6219, "robot_util": 0.6062, "robot_share": 0.9898, "robot_bus_share": 0, "collects": 0, "rescues": 1.575, "pauses": 43.25, "fragile_robot": 42.05, "groups": 84.4, "entry_wait_mean": 1.5915, "blocked_wait_mean": 0.7992, "guide_wait_mean": 0.2173, "staff_wait_mean": 1.0166, "full_wait_mean": 0.3917},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p5_s4_r2_a42,0.95,normal,2,1,1,1,34,9.48,17.3,0.95,1,0.95,0,0,0,0,1.6613,0,34,0,,,0,0.5798,0,0,0,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,1,1,2,35,9.42,17.2,0.95,1,0.95,0,0,0,0,0.3905,0,35,1,571.7039,614.0436,0,0.5797,0,0,0,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,1,1,3,36,10.32,20.05,1.75,2,0.95;0.8,0,0,0,1,1.8641,1,36,1,805.5468,847.7865,0,0.5639,0,0,0,0,2,0,1.75
fam_p5_s4_r2_a42,0.95,normal,2,1,2,4,35,11.07,19.95,0.95,1,0.95,0,0,0,0,1.8514,0,35,0,,,0,0.5826,0,0,0,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,1,2,5,37,13.95,26.5499,2.2,2,1.45;0.75,0,0,0,1,0.192,1,37,1,877.7292,922.7182,0,0.5729,0,0,0,0,2,0,2.2
fam_p5_s4_r2_a42,0.95,normal,2,1,1,6,1,30.9903,53.1495,0.95,1,0.95,0,0,0,0,0.3439,0,1,1,860.1335,905.2225,0,0.5937,0,0,1,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,1,2,7,36,11.85,23.3499,2.5,2,0.95;1.55,0,0,0,1,0.054,0,36,1,938.6643,990.2517,0,0.5683,0,0,0,0,2,0,2.5

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p5_s4_r2_a42,1,1,1,571.8,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,1,1,2,805.7,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,1,1,3,860.3,16.851,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,1,1,3,896.55,16.4921,2.561,,0,もう1台のロボット,ServingRobot02,0,0.8,自分で動き出した,275,28.52,28.52,0,0,0,0.8,0,16.566;2.413,15.3;4.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,1,2,4,877.9,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,1,2,5,938.85,17.6507,5.8081,,0,分からない,,0,1.45,自分で動き出した,275,275,275,0.05,0,0,1.4,0,17.651;5.808,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,1,2,5,979.5,16.9415,2.2973,,0,スタッフとすれ違った,Staff02,0,0.75,自分で動き出した,205.9846,25.5404,25.5404,0,0,0,0.75,0,16.979;2.293,16.562;2.337,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r2_a42,1,1,34,1,0,571.7039,571.7539,614.0436,ロボット,0.05,42.2897,0,0,0,0,0,0
fam_p5_s4_r2_a42,1,2,35,2,0,805.5468,805.5968,847.7865,ロボット,0.05,42.1897,0,0,0,0,0,0
fam_p5_s4_r2_a42,1,3,36,3,0,860.1335,860.1835,905.2225,ロボット,0.05,45.039,0,0,0,0,0,0
fam_p5_s4_r2_a42,1,4,35,2,0,877.7292,877.7792,922.7182,ロボット,0.05,44.939,0,0,0,0,0,0
fam_p5_s4_r2_a42,1,6,37,5,0,938.6643,938.7143,990.2517,ロボット,0.05,51.5374,0,0,0,0,0,0
fam_p5_s4_r2_a42,1,5,1,4,0,937.3646,937.4146,1015.546,ロボット,0.05,78.1309,0,0,0,0,0,0
fam_p5_s4_r2_a42,1,7,36,3,0,990.9016,990.9515,1039.308,ロボット,0.05,48.3568,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p5_s4_r2_a42,1,809.7458,スタッフ:Staff02,1,ロボット1号機,16.2292,2.9764,,,0,4.45,1,1
fam_p5_s4_r2_a42,1,942.8633,スタッフ:Staff01,1,ロボット1号機,11.846,4.5818,,,1,4.5,1,1
fam_p5_s4_r2_a42,1,977.9547,スタッフ:Staff02,1,ロボット2号機,15.4982,2.5401,,,0,1.45,1,1
fam_p5_s4_r2_a42,1,991.9513,スタッフ:Staff02,1,ロボット2号機,16.1673,5.507,,,0,2.7,1,1
fam_p5_s4_r2_a42,1,995.6504,スタッフ:Staff02,1,ロボット2号機,15.5151,5.21,,,0,0.9,1,1
fam_p5_s4_r2_a42,1,1159.926,スタッフ:Staff02,1,ロボット1号機,16.963,2.188,,,0,3.3,1,1
fam_p5_s4_r2_a42,1,1371.082,スタッフ:Staff01,1,ロボット1号機,1.1745,1.9902,,,0,26.8499,0,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r2_a42,1,1994.14,スタッフ,料理を運ぶ,38,19.162,2.188,19.8488,1.7469,,60.0494,あきらめた
fam_p5_s4_r2_a42,1,2171.713,客,ドリンクバー,4,17.3,3.9,1.5,8.7816,A01,60,あきらめた
fam_p5_s4_r2_a42,1,2355.292,客,ドリンクバー,3,1.763,8.462,16.7934,4.2389,,60,移した
fam_p5_s4_r2_a42,1,2397.934,客,ドリンクバー,4,1.763,10.312,1.8129,7.2132,A01,60,移した
fam_p5_s4_r2_a42,1,2408.644,客,ドリンクバー,3,1.763,8.462,3.4776,3.8763,,60,移した
fam_p5_s4_r2_a42,1,2647.627,客,ドリンクバー,4,1.763,10.312,1.6692,8.5861,A01,60,移した
fam_p5_s4_r2_a42,1,2895.82,客,ドリンクバー,8,1.763,10.513,1.8344,7.0906,A01,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r2_a42,1,1,1,34,2,43.2696,43.2696,117.0225,3035.702,3035.706,3162.88,3162.88,1.2292,0,Done
fam_p5_s4_r2_a42,1,2,2,35,2,175.5261,175.5261,250.4807,2417.659,2417.703,2541.073,2541.073,1.2492,0,Done
fam_p5_s4_r2_a42,1,3,2,36,2,194.3773,194.3773,271.0273,2895.216,2895.219,3040.761,3040.761,1.2775,0,Done
fam_p5_s4_r2_a42,1,4,3,1,4,396.7966,396.7966,459.5813,3639.698,3694.699,4007.554,4007.554,1.0464,0,Done
fam_p5_s4_r2_a42,1,5,1,37,2,437.2867,437.2867,517.7171,3579.379,3579.386,3736.99,3736.99,1.3405,0,Done
fam_p5_s4_r2_a42,1,6,4,2,4,704.7714,704.7714,769.0557,4192.173,4192.213,4575.211,4575.211,1.0714,0,Done
fam_p5_s4_r2_a42,1,7,2,38,2,724.3167,724.3167,805.8967,4257.831,4257.856,4664.959,4664.959,1.3597,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p5_s4_r2_a42,1,996.2502,15.5107,5.136,,,スタッフ:Staff02,0,2,8.8108
fam_p5_s4_r2_a42,1,1967.264,19.747,1.9502,,,スタッフ:Staff04,0,2,8.5594
fam_p5_s4_r2_a42,1,2007.403,18.6984,1.93,,,スタッフ:Staff02,0,1,8.48
fam_p5_s4_r2_a42,1,2018.414,19.3184,1.762,,,スタッフ:Staff02,0,1,9.9276
fam_p5_s4_r2_a42,1,2030.575,15.7244,3.5639,,,スタッフ:Staff03,1,1,7.6105
fam_p5_s4_r2_a42,1,2036.681,17.6227,1.9391,,,スタッフ:Staff02,0,1,9.4694
fam_p5_s4_r2_a42,1,2093.587,6.0698,4.4254,,,スタッフ:Staff03,0,1,9.4823

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:44:08",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:54:53",
  "note": "speed_mps = distance_m / (total_s - stopped_s)。stopped_s には、動けなくなった60秒と、スタッフを待った秒数（stuck_wait_s）、通路の入口で待った秒数も入る。pause_s は stop_durations_s（自分で動き出した止まりだけ）の分布。site_metrics はサイトの meta.metrics と同じ名前・同じ定義。入店待ちの分け方もサイトの試算と同じで、blocked_wait は片付け待ちの卓の数だけ待っている列の前から順に足した分、full_wait は seat_wait − blocked_wait、staff_wait は blocked_wait + guide_wait。pauses と rescues は、サイト側が unity_measures の仮の値から出した数なので出どころが違う。",
  "sim_like": {"dish_wait_mean": 3.6097, "dish_wait_p90": 5.7172, "cold_share": 0.5118, "seat_wait_mean": 10.8884, "turn_mean": 4.875, "robot_share": 0.7953, "robot_dishes": 202, "staff_dishes": 52, "requeued_dishes": 2, "late_staff_dishes": 52, "late_staff_share": 0.2047, "robot_first_wait_s": 120, "yields": 2964, "yields_by_robot": 156, "yields_by_staff": 2289, "yields_by_guest": 519, "yields_stepped_aside": 566, "yields_in_corner": 290, "yields_passed": 1104, "yield_wait_s": 5729.725, "yield_wait_mean_s": 1.9331, "staff_yields": 2289, "staff_yield_wait_s": 2765.17, "staff_yield_mean_s": 1.208, "staff_yield_share_of_staff_time": 0.0546, "staff_time_total_s": 50649.73, "corner_stops": 28, "corner_stop_s": 168.8495, "corner_stop_count_share": 0.0477, "corner_stop_time_share": 0.0325, "corner_range": "x 10.5-13.5 / z 3.5-5.8", "groups": 102, "people_jams": 807, "robot_blocked_jams": 766, "robot_blocked_jam_share": 0.9492, "chair_pulls": 224, "robot_contacts": 116, "robot_yield_waits": 2818, "robot_yield_wait_s": 4329.604, "robot_yield_detours": 12, "register_crowd_max": 9, "register_crowd_mean": 2.5289, "register_pay_count": 95, "register_pay_not_at_back": 0, "register_pay_off_spot": 23, "register_pay_offset_mean_m": 0.054, "register_pay_offset_max_m": 0.2996, "register_back_intruders": 0, "register_back_intruder_s": 0, "drink_bar_queued": 35, "drink_bar_gave_up": 9, "drink_bar_wait_mean": 0.6241, "drink_bar_wait_p90": 0.9965, "gave_up": 69, "warped": 84, "table_freed": 33, "people_jam_total_s": 1475.655, "walkers_mean": 11.2208, "measured_minutes": 210.9038},
  "site_metrics": {"entry_wait_mean": 12.6712, "full_wait_mean": 7.1859, "staff_wait_mean": 4.2409, "blocked_wait_mean": 3.7024, "guide_wait_mean": 0.5385, "seat_wait_mean": 10.8884, "dish_wait_mean": 3.6097, "dish_wait_p90": 5.7172, "cold_share": 0.5118, "turn_mean": 4.875, "walk_km_per_staff": 2.8439, "staff_util": 0.7384, "robot_util": 0.7056, "robot_share": 0.7953, "rescues": 49, "pauses": 538, "groups": 102},
  "site_run": {"site_run": true, "condition_id": "fam_p5_s4_r2_a42", "arrivals_minutes": 120, "total_minutes": 210.9038, "everyone_left": true, "aisle_deferrals": 35, "staff_first_yield": true, "robot_stuck_detours": 1641, "rescues_done": 49, "rescue_wait_s": 1548.744, "gave_up": 69, "warped": 84, "table_freed": 33},
  "site_result": {"dish_wait_mean": 1.0497, "dish_wait_p90": 2.1196, "cold_share": 0.0157, "seat_wait_mean": 1.191, "turn_mean": 3.9675, "walk_km_per_staff": 1.6822, "staff_util": 0.6219, "robot_util": 0.6062, "robot_share": 0.9898, "robot_bus_share": 0, "collects": 0, "rescues": 1.575, "pauses": 43.25, "fragile_robot": 42.05, "groups": 84.4, "entry_wait_mean": 1.5915, "blocked_wait_mean": 0.7992, "guide_wait_mean": 0.2173, "staff_wait_mean": 1.0166, "full_wait_mean": 0.3917},

condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s
fam_p5_s4_r2_a42,0.95,normal,2,2,1,1,34,9.48,17.3,0.95,1,0.95,0,0,0,0,1.528,0,34,0,,,0,0.5798,0,0,0,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,2,1,2,35,9.42,18.3,2.05,2,0.95;1.1,0,0,0,0,1.5276,0,35,1,458.5815,500.9212,0,0.5797,0,0,0,0,2,0,2.05
fam_p5_s4_r2_a42,0.95,normal,2,2,2,3,1,32.6103,55.8494,0.95,1,0.95,0,0,0,0,1.5618,0,1,0,,,0,0.594,0,0,1,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,2,1,4,36,10.32,18.7,0.95,1,0.95,0,0,0,0,1.8641,0,36,1,581.7015,625.0409,0,0.5814,0,0,0,0,1,0,0.95
fam_p5_s4_r2_a42,0.95,normal,2,2,1,5,38,14.61,88.0008,61.4494,4,0.95;0.45;4.5;55.5494,0,0,0,1,1.5315,1,38,1,679.6276,723.3669,0,0.5503,0,0,0,0,4,0,61.4494
fam_p5_s4_r2_a42,0.95,normal,2,2,2,6,34,7.4725,51.7495,36.6497,5,0.95;2.75;30.7998;0.8;1.35,0,0,0,1,1.8754,1,34,1,618.4925,699.3727,0,0.4949,0,0,0,0,5,0,36.6498
fam_p5_s4_r2_a42,0.95,normal,2,2,2,7,37,13.95,24.7499,0.95,1,0.95,0,0,0,0,1.5395,0,37,1,770.9553,847.7365,0,0.5861,0,0,0,0,1,0,0.95

condition_id,seed,robot_id,trip_id,t_s,x,z,aisle,in_narrow,cause,cause_detail,path_blocked,duration_s,resolved,clearance_left_cm,clearance_right_cm,min_gap_cm,blocked_s,no_path_s,yield_s,clear_wait_s,replans,solve_from,solve_to,solve_status,solve_corners,off_mesh_m
fam_p5_s4_r2_a42,2,1,1,458.65,16.9,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.9;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,2,1,2,581.8,16.8519,5.8225,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.852;5.822,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,2,1,2,616.15,15.8394,2.4362,,0,椅子・荷物・ベビーカー,Table35/Chair,0,1.1,自分で動き出した,275,275,275,0.15,0,0,0.95,0,15.839;2.436,15.3;4.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,2,2,3,618.6,17.7,6.05,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,17.7;6.05,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,2,1,4,679.75,16.851,5.8214,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.851;5.821,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,2,1,5,730,16.8575,5.833,,0,分からない,,0,0.95,自分で動き出した,275,275,275,0,0,0,0.95,0,16.858;5.833,15.3;5.95,PathComplete,2,0.025
fam_p5_s4_r2_a42,2,1,5,769.8,18.5359,2.2299,,0,椅子・荷物・ベビーカー,Table37/Chair,0,0.45,自分で動き出した,88.1099,32.0672,32.0672,0,0,0,0.45,0,18.925;2.212,16.738;2.312,PathComplete,2,0.025

condition_id,seed,dish_id,table_id,group_id,fragile,ready_s,first_taken_s,arrived_s,carried_by,pass_wait_s,carry_s,requeue_lost_s,requeued,staff_from_start,robot_wait_expired,late_staff_pickup,deferred_for_aisle
fam_p5_s4_r2_a42,2,1,34,1,0,458.5815,458.6315,500.9212,ロボット,0.05,42.2897,0,0,0,0,0,0
fam_p5_s4_r2_a42,2,2,35,2,0,581.7015,581.7515,625.0409,ロボット,0.05,43.2894,0,0,0,0,0,0
fam_p5_s4_r2_a42,2,3,1,4,0,618.4925,618.5425,699.3727,ロボット,0.05,80.8303,0,0,0,0,0,0
fam_p5_s4_r2_a42,2,4,36,3,0,679.6276,679.6776,723.3669,ロボット,0.05,43.6893,0,0,0,0,0,0
fam_p5_s4_r2_a42,2,5,38,6,0,729.8653,729.9153,842.8877,ロボット,0.05,112.9724,0,0,0,0,0,0
fam_p5_s4_r2_a42,2,6,34,1,0,770.9553,771.0052,847.7365,ロボット,0.05,76.7313,0,0,0,0,0,0
fam_p5_s4_r2_a42,2,8,37,5,0,843.6375,847.7865,897.5244,ロボット,4.149,49.7379,0,0,0,0,0,0

condition_id,seed,t_s,who,rank,to_whom,x,z,aisle,place,in_corner,waited_s,stepped_aside,passed
fam_p5_s4_r2_a42,2,778.9533,ロボット2号機,0,ロボット1号機,15.4689,5.0553,,,0,30.0498,1,0
fam_p5_s4_r2_a42,2,836.0894,ロボット2号機,0,ロボット1号機,15.8227,5.0805,,,0,6.5,1,1
fam_p5_s4_r2_a42,2,1000.199,ロボット2号機,0,ロボット1号機,18.0213,2.3732,,,0,2.45,1,1
fam_p5_s4_r2_a42,2,1005.198,ロボット2号機,0,ロボット1号機,18.0992,1.8215,,,0,2,1,1
fam_p5_s4_r2_a42,2,1009.747,ロボット2号機,0,ロボット1号機,18.3403,1.9861,,,0,2.55,1,1
fam_p5_s4_r2_a42,2,1014.946,ロボット2号機,0,ロボット1号機,18.3705,2.1699,,,0,3,1,1
fam_p5_s4_r2_a42,2,1020.694,ロボット2号機,0,ロボット1号機,18.1804,2.3263,,,0,2.6,1,1

condition_id,seed,t_s,who,job,table_id,to_x,to_z,x,z,aisle,waited_s,action
fam_p5_s4_r2_a42,2,1664.618,スタッフ,案内,11,0.9,2.1,17.5653,2.5239,,60.0494,あきらめた
fam_p5_s4_r2_a42,2,1724.777,スタッフ,案内,11,0.9,2.1,17.5664,2.5339,,60.0494,あきらめた
fam_p5_s4_r2_a42,2,1789.791,スタッフ,案内,15,0.9,2.1,17.5667,2.5319,,60.0494,あきらめた
fam_p5_s4_r2_a42,2,1831.031,客,ドリンクバー,3,1.763,8.462,5.3107,4.2441,,60,移した
fam_p5_s4_r2_a42,2,1847.797,スタッフ,呼び出し,37,18.062,2.188,16.2086,2.8223,,60.0494,あきらめた
fam_p5_s4_r2_a42,2,1907.906,スタッフ,呼び出し,37,18.062,2.188,16.1842,2.7856,,60.0494,あきらめた
fam_p5_s4_r2_a42,2,1964.911,客,ドリンクバー,2,1.763,6.613,5.2281,4.2609,,60,移した

condition_id,seed,group_id,size,table_id,table_seats,arrive_s,guide_start_s,seated_s,eat_end_s,pay_start_s,pay_s,left_s,waited_min,warmup,state
fam_p5_s4_r2_a42,2,1,2,34,2,31.8198,31.8198,106.5219,3313.53,3313.577,3449.109,3449.109,1.245,0,Done
fam_p5_s4_r2_a42,2,2,1,35,2,51.4195,51.4195,128.3232,2725.93,2725.954,2848.974,2848.974,1.2817,0,Done
fam_p5_s4_r2_a42,2,3,2,36,2,80.4203,80.4203,159.2251,2829.593,2829.605,2957.73,2957.73,1.3134,0,Done
fam_p5_s4_r2_a42,2,4,4,1,4,171.0758,171.0758,234.4297,2841.06,2841.066,3047.918,3047.918,1.0559,0,Done
fam_p5_s4_r2_a42,2,5,1,37,2,180.2264,180.2264,258.7803,3432.656,3432.693,3539.297,3539.297,1.3092,0,Done
fam_p5_s4_r2_a42,2,6,1,38,2,237.2799,237.2799,305.6189,3816.513,3816.518,3918.117,3918.117,1.139,0,Done
fam_p5_s4_r2_a42,2,7,2,39,2,252.6808,252.6808,333.3621,3246.686,3246.712,3343.957,3343.957,1.3447,0,Done

condition_id,seed,t_s,x,z,aisle,place,who,careless,robot_id,gap_cm
fam_p5_s4_r2_a42,2,1137.404,19.0982,2.55,,,スタッフ:Staff01,0,1,8.3968
fam_p5_s4_r2_a42,2,1291.204,17.5109,2.55,,,スタッフ:Staff01,0,2,9.8012
fam_p5_s4_r2_a42,2,1337.85,17.501,2.5479,,,スタッフ:Staff03,0,2,9.8821
fam_p5_s4_r2_a42,2,1421.281,17.5043,2.55,,,スタッフ:Staff04,0,2,9.9893
fam_p5_s4_r2_a42,2,1504.762,17.536,2.55,,,スタッフ:Staff01,0,2,9.1511
fam_p5_s4_r2_a42,2,1592.648,16.5624,2.3099,,,スタッフ:Staff02,0,2,7.9401
fam_p5_s4_r2_a42,2,1600.606,17.0565,2.0791,,,スタッフ:Staff02,0,2,8.9437

{
  "run_name": "family_v0",
  "written_at": "2026-10-24 02:54:54",
  "unity_version": "2022.3.62f3",
  "trips_csv_columns": "condition_id,aisle_width_m,crowd,robots,seed,robot_id,trip_id,table_id,distance_m,total_s,stopped_s,n_stops,stop_durations_s,stuck,timeout,wait_aisle_s,max_decel_mps2,min_clearance_m,met_robot,table_ids,dishes,dish_ready_s,dish_arrived_s,undelivered,speed_mps,stuck_count,stuck_wait_s,via_narrow,stops_in_narrow,stops_out_narrow,stopped_in_narrow_s,stopped_out_narrow_s",
  "settings": {
    "store_layout": {"aisleWidthOptions":[0.949999988079071],"aisleWidthIndex":0,"deliveryOffsetFromAisleCenter":0.0,"aisleEntranceSetback":0.800000011920929,"aisleEntranceSideOffset":0.44999998807907107,"wallHeight":2.700000047683716,"wallThickness":0.15000000596046449,"floorThickness":0.20000000298023225,"showAisleMarks":true,"aisleMarkThickness":0.019999999552965165,"showFloorPaint":true,"floorPaintCellSize":0.05000000074505806,"floorPaintHeight":0.029999999329447748,"navAgentRadius":0.25,"navAgentHeight":1.2000000476837159,"navAgentClimb":0.20000000298023225,"navAgentSlope":10.0,"navVoxelSize":0.05000000074505806,"navMinRegionArea":0.30000001192092898,"navBoundsPadding":1.0,"layoutJson":{"instanceID":13238},"summaryJson":{"instanceID":13240},"layoutFileName":"p5_crammed","fetchedAt":"2026-10-23 17:00:00 JST（版 82023936eb99）","sourceUrl":"https://pixelstomotors.com/sim/layouts/unity/p5_crammed.json","benchBackThickness":0.07999999821186066,"benchSeatInset":0.029999999329447748,"keepoutMarkThickness":0.019999999552965165},
    "robot_spec": {"diameter":0.5,"height":1.2000000476837159,"maxSpeed":0.6000000238418579,"acceleration":1.0,"deceleration":1.0,"turnSpeedDegPerSec":180.0,"sensorRange":0.6000000238418579,"sensorWidth":0.5,"sensorHeight":1.2000000476837159,"resumeAfterClearSec":1.0,"replanAfterStoppedSec":10.0,"stuckAfterStoppedSec":60.0,"stuckRecoveryWaitSec":15.0,"maxTripSec":600.0,"aisleYielding":true,"aisleWaitMaxSec":20.0,"aisleWaitSetbackM":0.8999999761581421,"aisleWaitSideM":0.6000000238418579,"robotYieldAfterSec":2.0,"robotYieldMaxSec":20.0,"robotYieldClearM":0.6000000238418579,"robotYieldBackM":0.8999999761581421,"useReturnLine":true,"passReturnOffsetM":1.0,"passReturnSeparationM":1.0,"passReturnKeepAwayM":0.6000000238418579,"passReturnCheckStepM":0.05000000074505806,"oneRobotPerAisle":true,"yieldOrderEnabled":true,"yieldSideClearM":0.6000000238418579,"yieldSideSearchM":2.5,"yieldSideStepM":0.20000000298023225,"yieldSideWaitMaxSec":30.0,"yieldPathAheadM":2.0,"cornerMinX":10.5,"cornerMaxX":13.5,"cornerMinZ":3.5,"cornerMaxZ":5.800000190734863,"tableDwellSec":25.0,"arriveRadius":0.25,"cornerReachDistance":0.11999999731779099,"stoppedSpeedEpsilon":0.019999999552965165,"clearanceProbeHeight":0.30000001192092898,"clearanceProbeRange":3.0,"pathBlockSearchRadius":2.0,"avoidancePriority":0,"repathRetrySec":1.0,"noPathForceReplanSec":10.0,"escapeToAisleEntranceOnPartialPath":true,"followSiteRoutes":true,"waypointReachDistance":0.25,"routePointSnapM":0.10000000149011612},