{ "meta": { "schema_version": "famires-unity/0.1", "generation": "82023936eb99", "units": "m", "coords": "原点は店の外壁の内側の左下の角。x は右、y は奥（上）。Unity では x→X、y→Z、高さ→Y とする", "source": "p1_efficient_corner.json と p1_efficient_corner_analysis.json（同じ generation）から決まった規則で作った。数字（卓・距離・止まる位置）は analysis と同じ", "robot_model": { "name": "BellaBot", "pass_width": 0.8, "body_width": 0.5, "maker": "Pudu Robotics", "source": "https://academy.pudutech.com/en/docs/huan-le-song-chan-pin-jian-jie" }, "settings": { "model": "BellaBot", "normal_width": 1.0, "human_width": 0.5, "res": 0.025, "check_res": 0.0125, "stop_reach": 0.3, "side_end_margin": 0.15, "toilet_min_gap": 1.0, "toilet_door_depth": 1.2, "entrance_depth": 1.5, "dish_front_depth": 1.2, "joint_max_depth": 0.08, "register_min_len": 2.5, "register_clear": 0.75, "checkout_keepout_w": 1.0, "checkout_keepout_len": 2.15, "lsofa_end_reach": 0.6, "standby_slot": 0.8 }, "heights": { "wall": 2.7, "partition": 1.2, "toilet_wall": 2.7, "table": 0.72, "bench": 1.1, "bench_seat": 0.45, "chair": 0.45, "counter": 1.0 }, "rules": "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。\n\n2026-10-22 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。\n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。\n\n書き出すもの（public/sim/layouts/unity/{名前}.json）\n- 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）\n- floor：床を敷く矩形（建物の外を除く）\n- aisles：細い通路（ボックス席の列と列の間。幅・区画・両端の入口と受け渡し口の前からの道のり）\n- tables：卓ごとの部品（天板・ベンチ・椅子・座る位置・席に着くために立つ点）と、止まる位置・通る細い通路\n- places：場所の点（受け渡し口の前・下げ膳の返却・パントリー・入口・待合・レジ・レジ内・トイレ・ドリンクバー・待機場所・スタッフの待つ点）\n\n規則（寸法は famires_v3.FURNITURE_TYPES と同じ）\n- 細い通路：同じ向きのボックス席がすき間なく並んだ「列」を見つけ、隣り合う2つの列のすき間（0.5m以上、1.5m以下）を細い通路とする。\n 区画は2つの列の長さを合わせた範囲。両端の少し外（0.8m）に入口の点を置き、受け渡し口の前からの道のりが短い方を entrance とする\n- 卓が通る細い通路：止まる位置がその通路の区画の中にあるもの\n- 下げ膳の返却口は受け渡し口と同じ点（試算の dish_extra_m=0 と同じ前提）\n- ロボットの道順（routes）：受け渡し口の前→各卓の止まる位置（from_pass）と、卓→卓（between。\"T01|T02\" は T01 から T02。逆向きは点を逆にたどる）。\n ふだん走らせる幅（normal_width）の道で行けるならその道、行けなければ通れる幅（pass_width）の道（試算と同じ規則。use が normal か narrow）。\n マス目の上の最短の道を、通れる範囲でまっすぐにつないで、曲がり角の点だけにした。卓→受け渡し口は from_pass を逆にたどる\n- 部屋は通れない箱。ただし walkable=true の部屋（レジ内）は人が中に立つ所で、箱にしない（staff_only=true はスタッフだけが入れる）\n- 席に着くために立つ点は、障害物から0.2m（人の半径）以上離れた所だけ\n- 会計の列（robot_keepout）：レジの客の側で、ロボットの道にしない矩形（famires_v3.checkout_keepout）。人は通れるので、部屋や壁としては建てない。\n ロボットの道順（routes）はこれをよけて作ってある。Unity では見せるための目印として使ってよい" }, "routes": { "from_pass": { "T01": { "use": "normal", "width": 1.0, "points": [ [ 15.3, 5.95 ], [ 12.463, 4.312 ], [ 2.163, 4.312 ], [ 1.938, 4.562 ], [ 1.913, 4.737 ], [ 1.912, 4.762 ] ], "length": 14.114, "grid_length": 14.381 }, "T02": { "use": "normal", "width": 1.0, "points": [ [ 15.3, 5.95 ], [ 12.513, 4.338 ], [ 12.388, 4.312 ], [ 2.163, 4.312 ], [ 1.938, 4.562 ], [ 1.913, 4.737 ], [ 1.912, 6.613 ] ], "length": 15.961, "grid_length": 16.232 }, "T03": { "use": "normal", "width": 1.0, "points": [ [ 15.3, 5.95 ], [ 12.513, 4.338 ], [ 12.388, 4.312 ], [ 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