{
 "about": "病院の搬送ロボットの Unity（ServiceSim の病院の場面）が読む条件。export_unity_params.py が assumptions.json から書き出す。直すときは assumptions.json を直して書き出し直す",
 "model": "h2",
 "layout": {
  "file": "tools/hospital_layouts/hospital_h0.json",
  "md5": "a29cd1d981e5b3086fb623fc647926d9",
  "name": "仮の病院 h0（外来の階）"
 },
 "route": {
  "key": "blue",
  "from_point": "内科外来の処置室",
  "to_point": "検査部の検体受付",
  "path": [
   [
    12.0,
    31.0
   ],
   [
    12.0,
    29.0
   ],
   [
    24.0,
    29.0
   ],
   [
    24.0,
    14.05
   ],
   [
    48.0,
    14.05
   ],
   [
    80.0,
    14.05
   ],
   [
    80.0,
    13.0
   ]
  ],
  "distance_m": 86.0,
  "what": "建てる範囲：青のルートの道（内科外来の処置室 → 外来の大廊下 → 西の縦廊下 → 職員の中廊下 → 検査部の検体受付）と、外来の大廊下の人の多い区間（x0〜70）"
 },
 "robot": {
  "speeds_mps": [
   0.4,
   0.5,
   0.6,
   0.8
  ],
  "speed_max_mps": 0.8,
  "min_passage_m": 0.7,
  "size_m": {
   "w": 0.459,
   "d": 0.549,
   "h": 1.081
  },
  "size_source": "KEENON 公式 BUTLERBOT W3"
 },
 "people": {
  "crowd": {
   "空いている": 20,
   "混んでいる": 60
  },
  "mix": {
   "歩く患者・付き添い": 0.7,
   "杖の人": 0.1,
   "車いす": 0.1,
   "スタッフ": 0.1
  },
  "stretcher_per_h": 2
 },
 "count_rules": {
  "sudden_stop": {
   "value": 1.0,
   "unit": "秒",
   "what": "1 急に止まった：走っている状態からこの秒数以内に止まった"
  },
  "near_miss_m": {
   "value": 0.3,
   "unit": "m",
   "what": "2 ひやり：人とロボットの外形どうしがこの距離未満まで近づいた"
  },
  "yield_m": {
   "value": 2.0,
   "unit": "m",
   "what": "3 人がよけさせられた：ロボットからこの距離以内で、人が止まるか向きを変えた"
  },
  "stuck_s": {
   "value": 30,
   "unit": "秒",
   "what": "4 立ち往生：この秒数以上動けず、人が動かしに行った（配膳と同じ）"
  },
  "cross_front_m": {
   "value": 1.5,
   "unit": "m",
   "what": "5 車いす・杖の人・ストレッチャーの進む先この距離以内をロボットが横切った"
  }
 },
 "braking": {
  "decel_mps2": 0.5,
  "react_s": 0.2,
  "notice_margin_m": 0.3,
  "what": "止まるまでの距離＝速さ×react_s＋速さ²÷(2×decel_mps2)。0.4m/秒で約0.24m、0.8m/秒で約0.80m"
 },
 "loading_point": [
  "廊下",
  "部屋の中",
  "裏口"
 ],
 "loading_point_what": "積む所：廊下＝扉から廊下へ0.5m（h0）／部屋の中＝扉から処置室の中へ1.0m（h0）／裏口＝処置室の裏口から外来の奥の職員通路へ0.5m（h0b。大廊下を通らない道）",
 "count_shape": "丸（直径0.549m）",
 "near_miss_speed_mps": 0.3,
 "near_miss_speed_basis": "1秒前からの最大",
 "sensor_width_m": 0.65,
 "wheelchair_avoid_stopped_robot": true,
 "near_miss_split_by_robot_moving": true,
 "east_hall_people_ratio": 0.25,
 "layout_back_door": {
  "file": "tools/hospital_layouts/hospital_h0b.json",
  "md5": "ddefbd8ca0db243f41601532e7b8dee8",
  "name": "仮の病院 h0b（外来の階・外来の奥に職員通路）",
  "blue_path": [
   [
    12.0,
    57.9
   ],
   [
    12.0,
    58.95
   ],
   [
    99.0,
    58.95
   ],
   [
    99.0,
    29.0
   ],
   [
    99.0,
    14.05
   ],
   [
    80.0,
    14.05
   ],
   [
    80.0,
    13.0
   ]
  ],
  "blue_distance_m": 153.0
 },
 "staff_corridor_interval_s": 60,
 "stretcher_yield": {
  "who": "ロボットが譲る",
  "wait_s": 20
 },
 "crowd_by_time": [
  [
   "07:30",
   "08:00",
   "空いている"
  ],
  [
   "08:00",
   "11:00",
   "混んでいる"
  ],
  [
   "11:00",
   "16:30",
   "空いている"
  ]
 ],
 "back_door_hours": [
  [
   "08:00",
   "11:00"
  ]
 ],
 "day_schedule": {
  "what": "青のロボットの便の時刻表。plan × 速さ × 種。depart は 7:30 からの秒、from は積む所（表＝内科外来の処置室／裏口）",
  "model": "h2",
  "day_start": "07:30",
  "plans": {
   "廊下だけ": {
    "0.5": [
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       "depart": 8843.2,
       "from": "内科外来の処置室"
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    ],
    "0.6": [
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     ],
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      {
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      {
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      {
       "depart": 11765.1,
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      {
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      },
      {
       "depart": 23432.5,
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      },
      {
       "depart": 30744.5,
       "from": "内科外来の処置室（裏口）"
      }
     ],
     [
      {
       "depart": 5074.3,
       "from": "内科外来の処置室（裏口）"
      },
      {
       "depart": 7425.5,
       "from": "内科外来の処置室（裏口）"
      },
      {
       "depart": 9295.1,
       "from": "内科外来の処置室（裏口）"
      },
      {
       "depart": 30926.2,
       "from": "内科外来の処置室（裏口）"
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      {
       "depart": 31723.2,
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     ]
    ]
   }
  }
 },
 "waiting_near_miss": "別に数える",
 "day_end_rule": "最後の便が終わるまで",
 "switch_move": "8:00・11:00 に走って移る",
 "seeds": 10,
 "basis": {
  "speeds": "決まり",
  "crowd_people": "仮置き",
  "people_mix": "仮置き",
  "stretcher_per_h": "仮置き"
 }
}