<feat> 로봇 동기화 (제어기 <-> 3d)

Assets/HybridIK/Scripts/Main/HybridInverseKinematicsNode.cs

@@ -122,40 +122,6 @@ public class HybridInverseKinematicsNode : MonoBehaviour
         return currentRotations;
     }
 
-    public List<float> GetCurrentJointAxisRotations(char axis = 'z')
-    {
-        List<float> jointAngles = new List<float>();
-        if (nodes == null || nodes.Count == 0) return jointAngles;
-
-        foreach (HybridIKJoint node in nodes)
-        {
-            if (node.jointTransform != null)
-            {
-                // 관절의 부모 기준 로컬 회전값을 Euler 각도(0-360)로 가져옴
-                Vector3 localEulerAngles = node.jointTransform.localEulerAngles;
-
-                // 매개변수로 받은 축에 해당하는 값을 리스트에 추가
-                switch (axis)
-                {
-                    case 'x':
-                    case 'X':
-                        jointAngles.Add(localEulerAngles.x);
-                        break;
-                    case 'y':
-                    case 'Y':
-                        jointAngles.Add(localEulerAngles.y);
-                        break;
-                    case 'z':
-                    case 'Z':
-                    default:
-                        jointAngles.Add(localEulerAngles.z);
-                        break;
-                }
-            }
-        }
-        return jointAngles;
-    }
-
     public void SetJointTargetPositions(List<Vector3> newPositions)
     {
         if (nodes == null || nodes.Count != newPositions.Count)
@@ -182,48 +148,12 @@ public class HybridInverseKinematicsNode : MonoBehaviour
         for (int i = 0; i < nodes.Count; i++)
         {
             nodes[i].jointTransform.localRotation = newRotations[i];
-            Debug.Log($"관절 {i}의 목표 회전을 {newRotations[i]}로 설정했습니다.");
+            //Debug.Log($"관절 {i}의 목표 회전을 {newRotations[i]}로 설정했습니다.");
-        }
-    }
-
-    public void SetCurrentJointAxisRotations(List<float> jointAngles, char axis = 'z')
-    {
-        // 노드 리스트가 없거나, 받은 각도 리스트의 개수가 일치하지 않으면 오류를 출력하고 중단
-        if (nodes == null || nodes.Count == 0 || jointAngles == null || nodes.Count != jointAngles.Count)
-        {
-            Debug.LogError($"관절 개수가 맞지 않습니다. (모델: {nodes?.Count ?? 0}개, 받은 데이터: {jointAngles?.Count ?? 0}개)");
-            return;
         }
 
-        for (int i = 0; i < nodes.Count; i++)
+        // Handle위치 매 프레임마다 업데이트
-        {
+        //targetTransform.localPosition = nodes[0].jointTransform.localPosition;
-            if (nodes[i].jointTransform != null)
+        //targetTransform.localRotation = nodes[0].jointTransform.localRotation;
-            {
-                // 현재 로컬 오일러 각도를 Vector3 변수로 가져옴
-                Vector3 currentLocalEuler = nodes[i].jointTransform.localEulerAngles;
-
-                // 매개변수로 받은 축에 해당하는 값을 Vector3 변수에서 수정
-                switch (axis)
-                {
-                    case 'x':
-                    case 'X':
-                        currentLocalEuler.x = jointAngles[i];
-                        break;
-                    case 'y':
-                    case 'Y':
-                        currentLocalEuler.y = jointAngles[i];
-                        break;
-                    case 'z':
-                    case 'Z':
-                    default:
-                        currentLocalEuler.z = jointAngles[i];
-                        break;
-                }
-
-                // 수정된 Vector3 전체를 다시 할당
-                nodes[i].jointTransform.localEulerAngles = currentLocalEuler;
-            }
-        }
     }
 
     #region DebugDraw

Assets/HybridIK/Scripts/Main/RobotController.cs

@@ -1,8 +1,11 @@
-using UnityEngine;
-using System.Collections;
-using System;
 using NUnit.Framework;
+using System;
+using System.Collections;
 using System.Collections.Generic;
+using System.Net.Sockets;
+using System.Threading.Tasks;
+using UnityEngine;
+using UnityEngine.UIElements;
 
 public class RobotController : MonoBehaviour
 {
@@ -17,8 +20,13 @@ public class RobotController : MonoBehaviour
     [SerializeField] private Material indicatorMaterial2; // 초록
     
     public event Action OnPoseUpdateRequest;
+    public event Action OnPoseUpdateReceive;
+
+    public Vector3 movementPosition;
+    private Quaternion movementRotation;
 
     private bool isMotorOn;
+    public bool IsMovementRunning = false;
 
     void Start()
     {
@@ -34,7 +42,8 @@ public class RobotController : MonoBehaviour
 
     private void Update()
     {
-        OnPoseUpdateRequest?.Invoke();// TODO. 로봇을 잡고 움직일 때와 아닐 때 구분하기
+        //OnPoseUpdateRequest?.Invoke();// TODO. 로봇을 잡고 움직일 때와 아닐 때 구분하기
+        OnPoseUpdateRequest?.Invoke();
     }
 
     public void SetMotorState(bool isOn)
@@ -60,21 +69,48 @@ public class RobotController : MonoBehaviour
         }
     }
 
+    public void EnableIK()
+    {
+        if (kinematicsNode != null) kinematicsNode.enabled = true;
+    }
+
+    public void DisableIK()
+    {
+        if (kinematicsNode != null) kinematicsNode.enabled = false;
+    }
+
     public void SetRobotPosition(RobotData robotData) // 가상 로봇 위치 업데이트
     {
         // x, y, z, rx, ry, rz => endpoint값
         // j1, ..., j6 => 6개 축의 회전값
-        kinematicsNode.targetTransform.localPosition = new Vector3(robotData.x, robotData.y, robotData.z);
+        // kinematicsNode.targetTransform.localPosition = new Vector3(robotData.x, robotData.y, robotData.z);
-        kinematicsNode.targetTransform.localRotation = new Quaternion(robotData.rx, robotData.ry, robotData.rz, 0);
+        // kinematicsNode.targetTransform.localRotation = new Quaternion(robotData.rx, robotData.ry, robotData.rz, 0);
+        if (robotData == null)
+        {
+            return; // 데이터가 없으면 아무것도 하지 않음
+        }
 
-        List<float> list_jAngle = new List<float>();
+        List<Quaternion> list_jAngle = new List<Quaternion>();
-        list_jAngle.Add(robotData.j6);
-        list_jAngle.Add(robotData.j5);
-        list_jAngle.Add(robotData.j4);
-        list_jAngle.Add(robotData.j3);
-        list_jAngle.Add(robotData.j2);
-        list_jAngle.Add(robotData.j1);
 
-        kinematicsNode.SetCurrentJointAxisRotations(list_jAngle, 'x');
+        list_jAngle.Add(Quaternion.AngleAxis(-1 * robotData.j1, Vector3.forward));
+        list_jAngle.Add(Quaternion.AngleAxis((robotData.j2 - 90), Vector3.up));
+        list_jAngle.Add(Quaternion.AngleAxis(robotData.j3, Vector3.up));
+        list_jAngle.Add(Quaternion.AngleAxis(robotData.j4, Vector3.right));
+        list_jAngle.Add(Quaternion.AngleAxis(robotData.j5, Vector3.up));
+        list_jAngle.Add(Quaternion.AngleAxis(robotData.j6, Vector3.right));
+
+        kinematicsNode.SetJointTargetRotations(list_jAngle);
+    }
+
+    public void Movement()
+    {
+        movementPosition.x = Convert.ToSingle(Math.Round(-1 * kinematicsNode.targetTransform.localPosition.x * 1000, 2));
+        movementPosition.y = Convert.ToSingle(Math.Round(-1 * kinematicsNode.targetTransform.localPosition.z * 1000, 2));
+        movementPosition.z = Convert.ToSingle(Math.Round(kinematicsNode.targetTransform.localPosition.y * 1000, 2));                
+    }
+
+    void OnDestroy()
+    {
+        IsMovementRunning = false;
     }
 }

Assets/Samples/XR Interaction Toolkit/3.2.1/Hands Interaction Demo/Prefabs/LeftHandQuestVisual.prefab

@@ -23,6 +23,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 154020528541498655}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: 0.019818999, y: -0.009505, z: 0.036447998}
   m_LocalScale: {x: 1, y: 1, z: 1}
@@ -30,7 +31,6 @@ Transform:
   m_Children:
   - {fileID: 1388167568378441066}
   m_Father: {fileID: 5069669653287105868}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -55,6 +55,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 210381533222935657}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.018333554, y: -0.14033656, z: 0.2070356, w: 0.96804225}
   m_LocalPosition: {x: -0.022999, y: -0.009419999, z: 0.034073997}
   m_LocalScale: {x: 1.0000185, y: 1.0000081, z: 0.9999589}
@@ -62,7 +63,6 @@ Transform:
   m_Children:
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   m_Father: {fileID: 5069669653287105868}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -87,13 +87,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2037781684021518805}
+  serializedVersion: 2
   m_LocalRotation: {x: -0.000029424828, y: -2.7755576e-17, z: -8.16703e-22, w: 1}
   m_LocalPosition: {x: -0.0002563861, y: 0.0016081122, z: 0.024326071}
   m_LocalScale: {x: 1, y: 1.0000552, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 2161792349893887693}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -121,6 +121,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2119128821997336139}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
@@ -131,7 +132,6 @@ Transform:
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   m_Father: {fileID: 0}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -268,6 +268,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2126422850841324885}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: -0.014992, y: -0.0060159997, z: 0.034776}
   m_LocalScale: {x: 1, y: 1, z: 1}
@@ -275,7 +276,6 @@ Transform:
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   m_Father: {fileID: 5069669653287105868}
-  m_RootOrder: 4
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -300,13 +300,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2432486271715584140}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: 0.000863, y: -0.001272, z: 0.047823}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 5069669653287105868}
-  m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -331,6 +331,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2449466093596885129}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.18964538, y: -0.011715397, z: 0.009750124, w: 0.9817344}
   m_LocalPosition: {x: -0.0018839999, y: 0.005105, z: 0.061360996}
   m_LocalScale: {x: 0.9999646, y: 1.0000069, z: 1.000008}
@@ -338,7 +339,6 @@ Transform:
   m_Children:
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   m_Father: {fileID: 6452153905393223383}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -363,6 +363,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2578214154532702777}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.11511069, y: 0.048731122, z: -0.0011094841, w: 0.992156}
   m_LocalPosition: {x: 0.00000013540283, y: 0.0000006386686, z: 0.020311324}
   m_LocalScale: {x: 1.0000222, y: 0.99996865, z: 0.9999735}
@@ -370,7 +371,6 @@ Transform:
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   m_Father: {fileID: 5133723241128578102}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -395,6 +395,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2737566140623793783}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.20427474, y: -0.0019674818, z: 0.0123084, w: 0.9788343}
   m_LocalPosition: {x: -0.00000033112343, y: -0.0000008804644, z: 0.042926535}
   m_LocalScale: {x: 1.0000315, y: 0.99999595, z: 1.000038}
@@ -402,7 +403,6 @@ Transform:
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   m_Father: {fileID: 2976511369594341911}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -427,6 +427,7 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2837990381356495747}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.3017412, y: 0.0072937733, z: 0.039555237, w: 0.95254105}
   m_LocalPosition: {x: 0.0000005266108, y: 0.0000003652638, z: 0.03899503}
   m_LocalScale: {x: 1.0000359, y: 0.9999273, z: 0.99994177}
@@ -434,7 +435,6 @@ Transform:
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   m_Father: {fileID: 8355923779401876056}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -459,6 +459,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2850392847790081042}
+  serializedVersion: 2
   m_LocalRotation: {x: -0.06267674, y: -0.051014844, z: -0.09903724, w: 0.99179673}
   m_LocalPosition: {x: 0.0000025303066, y: 0.000001160611, z: 0.045651983}
   m_LocalScale: {x: 0.9999562, y: 1.0000366, z: 1.0000681}
@@ -466,7 +467,6 @@ Transform:
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   m_Father: {fileID: 8417380247564435590}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -491,6 +491,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 3513589167082941891}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.22011371, y: -0.05016914, z: 0.08162888, w: 0.9707573}
   m_LocalPosition: {x: -0.000001152053, y: -0.000004860463, z: 0.032513987}
   m_LocalScale: {x: 0.9999928, y: 0.999997, z: 0.9999632}
@@ -498,7 +499,6 @@ Transform:
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   m_Father: {fileID: 5739692146427393493}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -523,6 +523,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4006796056942365453}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.11291981, y: 0.05065549, z: -0.0791567, w: 0.98914987}
   m_LocalPosition: {x: -0.000001023574, y: -0.000001828242, z: 0.033794336}
   m_LocalScale: {x: 0.9999879, y: 0.9999645, z: 1.0000014}
@@ -530,7 +531,6 @@ Transform:
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   m_Father: {fileID: 6917298367941137565}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -555,13 +555,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4068102805684026429}
+  serializedVersion: 2
   m_LocalRotation: {x: -9.62965e-35, y: -2.7755576e-17, z: -3.469447e-18, w: 1}
   m_LocalPosition: {x: -0.00067067984, y: 0.0010256439, z: 0.02459195}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 2918995294173764172}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -586,6 +586,7 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4153076141596758713}
+  serializedVersion: 2
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   m_LocalPosition: {x: 0.0000009285007, y: 0.00000015937881, z: 0.024305161}
   m_LocalScale: {x: 1.0000451, y: 1.0000081, z: 1.0000004}
@@ -593,7 +594,6 @@ Transform:
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   m_Father: {fileID: 2382852788413484942}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -618,6 +618,7 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4402673176309330239}
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   m_LocalScale: {x: 0.9999347, y: 0.9999719, z: 1.0000098}
@@ -625,7 +626,6 @@ Transform:
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   m_Father: {fileID: 1345752504633725317}
-  m_RootOrder: 0
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@@ -650,13 +650,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 5257385547637409029}
+  serializedVersion: 2
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   m_LocalPosition: {x: 0.00024632577, y: 0.0012151983, z: 0.021923328}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 6179992548733844536}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -683,13 +683,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 5973251026017801701}
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   m_Children: []
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-  m_RootOrder: 1
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 SkinnedMeshRenderer:
@@ -708,6 +708,9 @@ SkinnedMeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 3
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
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   m_Materials:
@@ -782,6 +785,7 @@ SortingGroup:
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   m_SortingOrder: 32000
+  m_SortAtRoot: 0
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@@ -805,6 +809,7 @@ Transform:
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   m_Children: []
   m_Father: {fileID: 3831596280851641935}
-  m_RootOrder: 4
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -794,10 +818,13 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
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   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
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   m_PrefabAsset: {fileID: 0}
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   m_LocalScale: {x: 1, y: 1, z: 1}
@@ -850,7 +878,6 @@ Transform:
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   m_Father: {fileID: 0}
-  m_RootOrder: 0
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 --- !u!114 &3718224901187835141
 MonoBehaviour:

Assets/Samples/XR Interaction Toolkit/3.2.1/Starter Assets/Prefabs/Controllers/XR Controller Right.prefab

@@ -23,6 +23,7 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 383438424965467249}
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   m_LocalScale: {x: 1, y: 1, z: 1}
@@ -33,7 +34,6 @@ Transform:
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@@ -60,13 +60,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1830568820149819044}
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-  m_RootOrder: 0
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@@ -143,13 +146,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
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   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4312999587465610534}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -176,10 +179,13 @@ MeshRenderer:
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   m_RayTracingMode: 2
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+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
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@@ -224,6 +230,7 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 3499590388232691612}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
@@ -236,7 +243,6 @@ Transform:
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   m_Father: {fileID: 3475118261464492563}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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 GameObject:
@@ -263,13 +269,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 3971126562083824521}
+  serializedVersion: 2
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   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4871301772669071546}
-  m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -296,10 +302,13 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
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+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
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@@ -346,13 +355,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4136640823569162769}
+  serializedVersion: 2
   m_LocalRotation: {x: -0.7071068, y: 0, z: -0, w: 0.7071068}
   m_LocalPosition: {x: -0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4312999587465610534}
-  m_RootOrder: 2
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@@ -379,10 +388,13 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
-  - {fileID: 2100000, guid: 9f12d299d16099343a3c5c0d7285822a, type: 2}
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@@ -428,6 +440,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4283425761326543017}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 1, z: 0, w: 0}
   m_LocalPosition: {x: 0, y: 0, z: -0.05}
   m_LocalScale: {x: -1, y: 1, z: 1}
@@ -435,7 +448,6 @@ Transform:
   m_Children:
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   m_Father: {fileID: 0}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -522,13 +534,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4338091395681428391}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.00000013985816, y: -0.1305262, z: 0.000000018412676, w: 0.9914449}
   m_LocalPosition: {x: -0.0125, y: -0.028556997, z: 0.027326612}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4312999587465610534}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -555,10 +567,13 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
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   m_StaticBatchInfo:
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@@ -605,13 +620,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4827784543866730429}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.000000059604645, y: 0, z: -0, w: 1}
   m_LocalPosition: {x: 0.008775876, y: -0.002558912, z: -0.0074315914}
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   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4871301772669071546}
-  m_RootOrder: 2
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@@ -638,10 +653,13 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
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@@ -688,13 +706,13 @@ Transform:
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6163737171295032436}
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   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4871301772669071546}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -721,10 +739,13 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
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+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
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@@ -771,13 +792,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6847961977512048706}
+  serializedVersion: 2
   m_LocalRotation: {x: 0.00000008146034, y: 0, z: -0, w: 1}
   m_LocalPosition: {x: -0, y: -0.0020741627, z: -0.0052528577}
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   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4312999587465610534}
-  m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -804,10 +825,13 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
-  - {fileID: 2100000, guid: 99685157b02e4d446bbecb015645e5e8, type: 2}
+  - {fileID: 2100000, guid: a6ad2c0d364b9bb4ebe747d9f4e2458e, type: 2}
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@@ -854,13 +878,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7461432819638815115}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: -0.012954317, z: -0.02}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4312999587465610534}
-  m_RootOrder: 4
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -887,10 +911,13 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
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     subMeshCount: 0

Assets/Scripts/AppManager.cs

@@ -7,35 +7,80 @@ using UnityEngine;
 
 public class AppManager : MonoBehaviour
 {
+    public static AppManager Instance { get; private set; }
+
     [SerializeField] private ProgramView view;
     [SerializeField] private TCPView tcpView;
     [SerializeField] private RobotController robotController;
 
-    [SerializeField] private InteractionView interactionView;
+    private InteractionView interactionView;
     [SerializeField] private PointManagerView pointManagerView;
     [SerializeField] private PathLineView pathLineView;
     [SerializeField] private PopupView popupView;
 
     [SerializeField] private float motorStatePollInterval = 1.0f;
+    public CancellationTokenSource cancellationTokenSource;
+    private bool isModelAndStaticViewsReady = false;
+    private ProgramModel model;
     private ProgramPresenter presenter;
     private string hostip;
     private int tcpPort;
     private int udpPort;
     private string configFileName = "config.cfg";
-    private CancellationToken cancellationToken;
+
+
+    void Awake()
+    {
+        if (Instance != null && Instance != this)
+        {
+            Destroy(gameObject);
+        }
+        else
+        {
+            Instance = this;
+        }
+    }
 
     async void Start()
     {
         LoadConfig();
 
-        ProgramModel model = new ProgramModel(hostip, tcpPort, udpPort);
+        model = new ProgramModel(hostip, tcpPort, udpPort, robotController);
         await model.InitializeAsync();
-        _ = model.GetTCPAsync(cancellationToken);
 
-        presenter = new ProgramPresenter(model, view, tcpView, interactionView, pointManagerView, popupView, pathLineView);
+        isModelAndStaticViewsReady = true;
+        TryCreatePresenter();
+    }
+
+    public void RegisterView(InteractionView Iview)
+    {
+        if (this.interactionView != null) return;
+        this.interactionView = Iview;
+
+        TryCreatePresenter();
+    }
+
+    private void TryCreatePresenter()
+    {
+        if (presenter != null) return;
+
+        presenter = new ProgramPresenter(
+            model,
+            view,
+            tcpView,
+            interactionView,
+            pointManagerView,
+            popupView,
+            pathLineView
+        );
+
         presenter.RegisterControlledRobot(robotController);
+        _ = presenter.UpdateMotorStateAsync();
+
+        cancellationTokenSource = new CancellationTokenSource();
+        _ = model.GetTCPAsync(cancellationTokenSource.Token);
+        _ = model.StartMovementCheckLoopAsync(cancellationTokenSource.Token);
 
-        await presenter.UpdateMotorStateAsync();
         view.DisplayProgram(null);
         StartCoroutine(PollMotorStateCoroutine());
     }

Assets/Scripts/Model/ProgramModel.cs

@@ -23,23 +23,21 @@ public class ProgramModel : IProgramModel
     private string tcpBaseUrl;
     private string udpBaseUrl;
     HttpClient httpClient = new HttpClient();
-    private SingleTcpClient tcpClient;
     private SingleUdpClient udpClientForHttp;
     public UdpClientManager manager = new UdpClientManager();
 
     private List<JobInfoDTO> allProgramsCache = new List<JobInfoDTO>();
     public RobotProgram CurrentProgram { get; private set; }
-
     private RobotData robotData;
+    private RobotController robotController;
 
     private readonly object lockObject = new object();
     private bool hasNewData;
-    public bool IsUdpLoopRunning = false;
     public bool IsMoving;
-    public CancellationTokenSource cancellationTokenSource;
     private Vector3 startMovementPosition;
+    public CancellationTokenSource cancellationTokenSource;
 
-    public ProgramModel(string hostip, int tcpPort, int udpPort)
+    public ProgramModel(string hostip, int tcpPort, int udpPort, RobotController robotController)
     {
         tcpBaseUrl = $"http://{hostip}:{tcpPort}";
         udpBaseUrl = $"http://{hostip}:{udpPort}";
@@ -50,8 +48,8 @@ public class ProgramModel : IProgramModel
     {
         await LoadAllPrograms();
         hasNewData = false;
-        IsUdpLoopRunning = true;
         IsMoving = false;
+        cancellationTokenSource = new CancellationTokenSource();
         return;
     }
 
@@ -87,6 +85,8 @@ public class ProgramModel : IProgramModel
 
     public async Task<bool> CreateNewProgram(string userInputId)
     {
+        string robotModelName;
+
         if (string.IsNullOrEmpty(userInputId)) return false;
 
         string newProgramId = $"{userInputId}.job";
@@ -99,9 +99,6 @@ public class ProgramModel : IProgramModel
         else
             Debug.Log($"{newProgramId} 생성");
 
-
-        string robotModelName;
-        
         try
         {
             robotModelName = await GetRobotModelNameAsync();
@@ -170,7 +167,7 @@ public class ProgramModel : IProgramModel
         JObject data = JObject.Parse(jsonResponse);
 
         int motorState = (int)data.SelectToken("enable_state");
-        if (motorState == 2 || motorState == 256)
+        if (motorState == 0 || motorState == 256)
             return true;
         else if (motorState == 1)
             return false;
@@ -182,11 +179,10 @@ public class ProgramModel : IProgramModel
 
     public async Task GetTCPAsync(CancellationToken token)
     {
-        while (IsUdpLoopRunning)
+        while (!token.IsCancellationRequested)
         {
             try
             {
-                //string requestUri = $"{udpBaseUrl}/project/robot/po_cur";
                 string requestUri = $"{tcpBaseUrl}/project/robot/po_cur";
 
                 HttpResponseMessage result = await httpClient.GetAsync(requestUri);
@@ -201,7 +197,7 @@ public class ProgramModel : IProgramModel
                 }
                 await Task.Delay(50);
             }
-            catch (System.Exception e)
+            catch (Exception e)
             {
                 Debug.Log(e);
                 await Task.Delay(1000); // 에러 시 더 긴 대기
@@ -347,13 +343,20 @@ public class ProgramModel : IProgramModel
     }
 
     // 실시간 로봇 TCP 이동
-    public async Task StreamPoseToRobotUdpAsync(RobotData pose)
+    public async Task StreamPoseUdpAsync(RobotData pose)
     {
         try
         {
             byte[] udpPacket = ConvertPoseToPacket(pose);
 
-            await udpClientForHttp.SendBytesAsync(udpPacket);
+            if (udpClientForHttp != null)
+            {
+                await udpClientForHttp.SendBytesAsync(udpPacket);
+            }
+            else
+            {
+                Debug.LogWarning("UDP 클라이언트가 연결되지 않았습니다.");
+            }
         }
         catch (Exception e)
         {
@@ -361,6 +364,89 @@ public class ProgramModel : IProgramModel
         }
     }
 
+    // 타겟 포지션으로 이동
+    public async Task<bool> MoveToPoseTcpAsync(RobotData pose)
+    {
+        try
+        {
+            string jsonString = $"{{\"pose_tg\":{{\"crd\":\"robot\",\"_type\":\"Pose\",\"mechinfo\":1,\"x\":{pose.x},\"y\":{pose.y},\"z\":{pose.z}, \"rx\":{pose.rx}, \"ry\":{pose.ry}, \"rz\":{pose.rz}}}}}";
+            HttpContent jsonPayload = new StringContent(jsonString, Encoding.UTF8, "application/json");
+
+            HttpResponseMessage result = await httpClient.PostAsync("/project/robot/move_to_pose_manual", jsonPayload);
+
+            if (result.IsSuccessStatusCode)
+            {
+                Debug.Log("TCP POST (Move) 명령 전송 성공");
+
+                this.startMovementPosition = new Vector3(pose.x, pose.y, pose.z);
+                this.IsMoving = true;
+                return true;
+            }
+            else
+            {
+                string errorResponse = await result.Content.ReadAsStringAsync();
+                Debug.LogError($"TCP POST (Move) 실패 ({result.StatusCode}): {errorResponse}");
+                return false;
+            }
+        }
+        catch (Exception e)
+        {
+            Debug.Log(e);
+            return false;
+        }
+    }
+
+    // TCP POST 이동 명령 체크
+    public async Task StartMovementCheckLoopAsync(CancellationToken token)
+    {
+        while (!token.IsCancellationRequested)
+        {
+            if (IsMoving)
+            {
+                try
+                {
+                    await udpClientForHttp.SendFilledBytesAsync(new Dictionary<int, byte> { { 2, 0x20 } });
+
+                    RobotData currentPose = null;
+                    lock (lockObject)
+                    {
+                        currentPose = this.robotData;
+                    }
+
+                    if (currentPose != null)
+                    {
+                        bool isApproximatelyX = Mathf.Approximately(startMovementPosition.x, Convert.ToSingle(Math.Round(currentPose.x, 2)));
+                        bool isApproximatelyY = Mathf.Approximately(startMovementPosition.y, Convert.ToSingle(Math.Round(currentPose.y, 2)));
+                        bool isApproximatelyZ = Mathf.Approximately(startMovementPosition.z, Convert.ToSingle(Math.Round(currentPose.z, 2)));
+
+                        if (isApproximatelyX && isApproximatelyY && isApproximatelyZ)
+                        {
+                            IsMoving = false; // 도착 완료
+                            Debug.Log("TCP Move: 목표 지점 도착 완료.");
+                        }
+                    }
+                    await Task.Delay(100, token); // 100ms마다 확인
+                }
+                catch (TaskCanceledException)
+                {
+                    Debug.Log("Movement Check 루프가 중지되었습니다.");
+                    break;
+                }
+                catch (Exception e)
+                {
+                    Debug.Log($"Movement Check 루프 오류: {e.Message}");
+                    IsMoving = false; // 오류 발생 시 루프 중단
+                    await Task.Delay(1000, token);
+                }
+            }
+            else
+            {
+                // (IsMoving = false일 때는 1초간 대기)
+                await Task.Delay(1000, token);
+            }
+        }
+    }
+
     private byte[] ConvertPoseToPacket(RobotData pose)
     {
         using (MemoryStream stream = new MemoryStream())
@@ -378,39 +464,9 @@ public class ProgramModel : IProgramModel
         }
     }
 
-    //사용자 tcp 드래깅 후 제어기로 이동 명령 하달
-    public async Task<bool> StartMovement(Vector3 position)
-    {
-        startMovementPosition.x = Convert.ToSingle(Math.Round(-1 * position.x * 1000, 2));
-        startMovementPosition.y = Convert.ToSingle(Math.Round(-1 * position.z * 1000, 2));
-        startMovementPosition.z = Convert.ToSingle(Math.Round(position.y * 1000, 2));
-        var jsonResponse = await tcpClient.SendPostRequestAsync("/project/robot/move_to_pose_manual", $"{{\"pose_tg\":{{\"crd\":\"robot\",\"_type\":\"Pose\",\"mechinfo\":1,\"x\":{startMovementPosition.x},\"y\":{startMovementPosition.y},\"z\":{startMovementPosition.z}, \"rx\":{robotData.rx}, \"ry\":{robotData.ry}, \"rz\":{robotData.rz}}}}}");
-        return jsonResponse.Contains("200");
-    }
-
-    //타겟 포지션 도달까지 이동 명령
-    private async Task MovementLoopAsync()
-    {
-        while (!cancellationTokenSource.Token.IsCancellationRequested)
-        {
-            if (IsMoving)
-            {
-                await udpClientForHttp.SendFilledBytesAsync(new Dictionary<int, byte> { { 2, 0x20 } });
-                await Task.Delay(100);
-                bool isApproximatelyX = Mathf.Approximately(startMovementPosition.x, Convert.ToSingle(Math.Round(robotData.x, 2)));
-                bool isApproximatelyY = Mathf.Approximately(startMovementPosition.y, Convert.ToSingle(Math.Round(robotData.y, 2)));
-                bool isApproximatelyZ = Mathf.Approximately(startMovementPosition.z, Convert.ToSingle(Math.Round(robotData.z, 2)));
-                if (isApproximatelyX && isApproximatelyY && isApproximatelyZ)
-                {
-                    IsMoving = false;
-                }
-            }
-
-        }
-    }
-
     void OnDestroy()
     {
-        IsUdpLoopRunning = false;
+        cancellationTokenSource?.Cancel();
+        cancellationTokenSource?.Dispose();
     }
 }

Assets/Scripts/Presenter/ProgramPresenter.cs

@@ -1,7 +1,9 @@
 using System;
 using System.Collections.Generic;
+using System.Net.Sockets;
 using System.Threading.Tasks;
 using UnityEngine;
+using UnityEngine.UIElements;
 using UnityEngine.XR.ARSubsystems;
 
 public enum PopupState
@@ -16,16 +18,16 @@ public enum PopupState
 public class ProgramPresenter
 {
     private ProgramModel model;
-    private IProgramView view;
+    private ProgramView view;
     private TCPView tcpView;
     private RobotController controlledRobot;
     private string _programId;
     private bool lastKnownMotorState = false;
 
-    private IInteractionView interactionView;
+    private InteractionView interactionView;
-    private IPointManagerView pointManagerView;
+    private PointManagerView pointManagerView;
-    private IPathLineView pathLineView;
+    private PathLineView pathLineView;
-    private IPopupView popupView;
+    private PopupView popupView;
 
     private PopupState currentPopupState = PopupState.None;
     private RobotData pendingPointData; // 팝업창에 대한 응답을 기다리는 임시 데이터
@@ -33,12 +35,16 @@ public class ProgramPresenter
 
     private bool IsDragging = false;
 
-    public ProgramPresenter(ProgramModel model, IProgramView view, TCPView tcpView,
+    public ProgramPresenter(ProgramModel model, ProgramView view, TCPView tcpView,
-        IInteractionView interactionView, IPointManagerView pmView, IPopupView popView, IPathLineView pathLineView)
+        InteractionView interactionView, PointManagerView pmView, PopupView popView, PathLineView pathLineView)
     {
         this.model = model;
         this.view = view;
         this.tcpView = tcpView;
+        this.interactionView = interactionView;
+        this.pointManagerView = pmView;
+        this.popupView = popView;
+        this.pathLineView = pathLineView;
 
         this.view.OnCreateProgramClicked += async (id) => await HandleCreateProgram(id);
         this.view.OnLoadProgramListRequested += HandleLoadProgramList;
@@ -48,11 +54,12 @@ public class ProgramPresenter
         this.view.OnAddPointClicked += HandleAddPoint;
         this.tcpView.OnTCPupdateRequested += HandleTCPViewUpdate;
 
-        //this.interactionView.OnRobotReleased += HandleRobotReleased;
+        this.interactionView.OnRobotGrabbed += HandleRobotGrabbed;
+        this.interactionView.OnRobotReleased += HandleRobotReleased;
         //this.interactionView.OnPointClicked += HandlePointClicked;
-        //this.interactionView.OnPointDragStart += HandlePointDragStart;
+        this.interactionView.OnPointDragStart += HandlePointDragStart;
-        //this.interactionView.OnPointDragUpdate += HandlePointDragUpdate;
+        this.interactionView.OnPointDragUpdate += HandlePointDragUpdate;
-        //this.interactionView.OnPointDragEnd += HandlePointDragEnd;
+        this.interactionView.OnPointDragEnd += HandlePointDragEnd;
 
         //this.popupView.OnPopupResponse += HandlePopupResponse;
     }
@@ -60,7 +67,8 @@ public class ProgramPresenter
     public void RegisterControlledRobot(RobotController robot)
     {
         this.controlledRobot = robot;
-        this.controlledRobot.OnPoseUpdateRequest += HandlePoseViewUpdate;
+        this.controlledRobot.OnPoseUpdateRequest += HandleGETPose;
+        //this.controlledRobot.OnPoseUpdateReceive += HandlePOSTPose;
     }
 
     public async Task UpdateMotorStateAsync()
@@ -157,19 +165,58 @@ public class ProgramPresenter
         }
     }
 
-    // --- 실시간 동기화 ---
+    // --- 실시간 동기화(제어기->3d) ---
-    private void HandlePoseViewUpdate()
+    private void HandleGETPose()
     {
+        //Debug.Log($"제어기동기화 멈춤: {interactionView.isGrabbingRobot}");
+        //if (interactionView.isGrabbingRobot) 
+        //    return; // 3d -> 제어기 제어 중이면 멈춤
+
         RobotData data = model.GetLatestRobotData();
-        controlledRobot.SetRobotPosition(data); // 3D 가상 로봇 모델 위치 업데이트
+        if (data != null)
+        {
+            controlledRobot.DisableIK();
+            controlledRobot.SetRobotPosition(data); // 3D 가상 로봇 모델 위치 업데이트
+        }
+    }
+
+    // --- 실시간 동기화(3d->제어기) ---
+    private RobotData ConvertPoseToRobotData(Vector3 newWorldPos, Quaternion newWorldRot)
+    {
+        RobotData targetPose = new RobotData();
+
+        targetPose.x = Convert.ToSingle(Math.Round(-1 * newWorldPos.x * 1000, 2));
+        targetPose.y = Convert.ToSingle(Math.Round(-1 * newWorldPos.z * 1000, 2)); // Unity Z -> Robot Y
+        targetPose.z = Convert.ToSingle(Math.Round(newWorldPos.y * 1000, 2)); // Unity Y -> Robot Z
+
+        Vector3 eulerAngles = newWorldRot.eulerAngles;
+
+        targetPose.rx = Convert.ToSingle(Math.Round(eulerAngles.x, 2));
+        targetPose.ry = Convert.ToSingle(Math.Round(eulerAngles.y, 2));
+        targetPose.rz = Convert.ToSingle(Math.Round(eulerAngles.z, 2));
+
+        return targetPose;
+    }
+
+    private async void HandleRobotGrabbed(Vector3 newWorldPos, Quaternion newWorldRot)
+    {
+        // controlledRobot.EnableIK(); 
+
+        RobotData newPose = ConvertPoseToRobotData(newWorldPos, newWorldRot);
+
+        await model.StreamPoseUdpAsync(newPose);
     }
 
     // --- 새 포인트 추가 ---
     private void HandleRobotReleased(RobotData pose)
     {
-        pendingPointData = pose; // 1. 임시 저장
+        IsDragging = false;
-        currentPopupState = PopupState.ConfirmAddPoint; // 2. 상태 설정
+        //controlledRobot.DisableIK();
-        popupView.ShowConfirmPopup("위치 확정", "이 위치를 새 포인트로 저장하시겠습니까?"); // 3. 팝업 요청
+        interactionView.isGrabbingRobot = false;
+        HandleGETPose();
+        //pendingPointData = pose; // 임시 저장
+        //currentPopupState = PopupState.ConfirmAddPoint; // 상태 설정
+        //popupView.ShowConfirmPopup("위치 확정", "이 위치를 새 포인트로 저장하시겠습니까?"); // 팝업 요청
     }
 
     // --- 포인트 클릭 ---
@@ -186,6 +233,8 @@ public class ProgramPresenter
     private void HandlePointDragStart(int index)
     {
         IsDragging = true;
+        controlledRobot.EnableIK();
+
         activePointIndex = index;
         originalDragPose = model.CurrentProgram.GetStepPose(index);
 
@@ -195,20 +244,20 @@ public class ProgramPresenter
 
     private async void HandlePointDragUpdate(int index, Vector3 newWorldPos)
     {
-        if (!IsDragging) return;
+        ////if (!IsDragging) return;
         //RobotData newPose = ConvertVectorToRobotData(newWorldPos);
 
-        // 고스트 로봇, 포인트, 경로 실시간 이동
+        //// 고스트 로봇, 포인트, 경로 실시간 이동
-        //interactionView.ShowGhostRobot(newPose);
+        ////interactionView.ShowGhostRobot(newPose);
-        //pointManagerView.UpdatePointPosition(index, newPose);
+        ////pointManagerView.UpdatePointPosition(index, newPose);
-        //pathLineView.DrawPath(GetFullPathOfProgramWithTempChange(index, newPose)); // 임시 경로 그리기
+        ////pathLineView.DrawPath(GetFullPathOfProgramWithTempChange(index, newPose)); // 임시 경로 그리기
 
-        //await model.StreamPoseToRobotUdpAsync(newPose);
+        //await model.StreamPoseToRobotUdpAsync(newWorldPos);
     }
 
     private void HandlePointDragEnd(int index)
     {
-        //IsDragging = false;
+        IsDragging = false;
         //interactionView.HideDragArrow();
         //interactionView.HideGhostRobot();
 
@@ -302,5 +351,12 @@ public class ProgramPresenter
         this.view.OnSaveClicked -= HandleSaveProgram;
         this.view.OnAddPointClicked -= HandleAddPoint;
         this.tcpView.OnTCPupdateRequested -= HandleTCPViewUpdate;
+        this.controlledRobot.OnPoseUpdateRequest -= HandleGETPose;
+        //this.controlledRobot.OnPoseUpdateReceive -= HandlePOSTPose;
+        this.interactionView.OnRobotGrabbed -= HandleRobotGrabbed;
+        this.interactionView.OnRobotReleased -= HandleRobotReleased;
+        this.interactionView.OnPointDragStart -= HandlePointDragStart;
+        this.interactionView.OnPointDragUpdate -= HandlePointDragUpdate;
+        this.interactionView.OnPointDragEnd -= HandlePointDragEnd;
     }
 }

Assets/Scripts/View/InteractionView.cs

@@ -1,9 +1,12 @@
 using System;
 using UnityEngine;
+using UnityEngine.XR.Interaction.Toolkit;
+using UnityEngine.XR.Interaction.Toolkit.Interactors;
 
 // Presenter가 InteractionView를 제어하기 위한 인터페이스
 public interface IInteractionView
 {
+    event Action<Vector3, Quaternion> OnRobotGrabbed;
     // VR 컨트롤러가 로봇을 잡았다 놨을 때 발생
     event Action<RobotData> OnRobotReleased;
     // VR 컨트롤러가 특정 포인트를 클릭했을 때 발생
@@ -20,38 +23,139 @@ public interface IInteractionView
     void HideDragArrow();
 }
 
-// (이 스크립트는 VR 컨트롤러 로직이 있는 곳에 붙어야 합니다)
 public class InteractionView : MonoBehaviour, IInteractionView
 {
+    public event Action<Vector3, Quaternion> OnRobotGrabbed;
     public event Action<RobotData> OnRobotReleased;
     public event Action<int> OnPointClicked;
     public event Action<int> OnPointDragStart;
     public event Action<int, Vector3> OnPointDragUpdate;
     public event Action<int> OnPointDragEnd;
 
+    private XRBaseInteractor interactor;
+
+    private bool isInitialized = false;
+    private bool isGrabbingPoint = false;
+    private int currentGrabbedPointIndex = -1;
+
+    public bool isGrabbingRobot = false;
+
+    void Start()
+    {
+        // Ray Interactor와 Direct Interactor 모두 처리할 수 있도록 XRBaseInteractor로 받음
+        interactor = GetComponent<NearFarInteractor>();
+        if (interactor == null)
+        {
+            Debug.LogError("InteractionView requires an XRBaseInteractor (Ray or Direct) on the same GameObject.", this);
+            return;
+        }
+    }
+
+    // --- 실시간 스트리밍을 위한 Update ---
     void Update()
     {
-        // 컨트롤러로 로봇을 잡고있는지 감지
+        if (isInitialized)
-        // if (IsGrabbingRobot()) { ... }
+        {
+            if (isGrabbingPoint)
+            {
+                Vector3 currentControllerPosition = interactor.attachTransform.position;
+                OnPointDragUpdate?.Invoke(currentGrabbedPointIndex, currentControllerPosition);
+            }
+            else if(isGrabbingRobot)
+            {
+                Vector3 currentHandleTransform = interactor.attachTransform.position;
+                Quaternion currentControllerRotation = interactor.attachTransform.rotation;
+                OnRobotGrabbed?.Invoke(currentHandleTransform, currentControllerRotation);
+            }
+        }
+        else
+        {
+            if (interactor == null)
+            {
+                interactor = GetComponentInChildren<NearFarInteractor>(true);
+            }
+            if (interactor != null && interactor.gameObject.activeInHierarchy)
+            {
+                InitializeInteraction();
+            }
+        }
+    }
 
-        // 컨트롤러 그랩 버튼을 뗐을 때
+    private void InitializeInteraction()
-        // if (OnGrabRelease())
+    {
-        // {
+        // XRI 이벤트 구독
-        //     RobotData currentPose = GetCurrentRobotPose();
+        interactor.selectEntered.AddListener(HandleGrabStart);
-        //     OnRobotReleased?.Invoke(currentPose); // 2. "위치 확정?" 팝업 요청
+        interactor.selectExited.AddListener(HandleGrabEnd);
-        // }
 
-        // 컨트롤러로 포인트를 클릭했을 때
+        // '클릭'을 감지하려면 interactor.activated 이벤트를 구독해야 함
-        // if (OnPointClick(out int clickedPointIndex))
-        // {
-        //     OnPointClicked?.Invoke(clickedPointIndex); // 8. "이동/삭제?" 팝업 요청
-        // }
 
-        // 컨트롤러로 포인트를 꾹 누르기 시작(드래그 시작)
+        isInitialized = true;
-        // if (OnPointHold(out int draggedPointIndex))
+        AppManager.Instance.RegisterView(this);
-        // {
+        Debug.Log("InteractionView 초기화 완료. Interactor 이벤트 구독 시작.");
-        //     OnPointDragStart?.Invoke(draggedPointIndex); // 5. 드래그 시작
+    }
-        // }
+
+    private void OnDestroy()
+    {
+        if (interactor != null)
+        {
+            interactor.selectEntered.RemoveListener(HandleGrabStart);
+            interactor.selectExited.RemoveListener(HandleGrabEnd);
+        }
+    }
+
+    // --- XRI 이벤트 핸들러 ---
+
+    // "잡기" 버튼을 눌렀을 때
+    private void HandleGrabStart(SelectEnterEventArgs args)
+    {
+        // 잡은 대상 오브젝트
+        GameObject grabbedGO = args.interactableObject.transform.gameObject;
+
+        //// 잡은 것이 "포인트"인지 확인 (RobotPoint 스크립트 탐색)
+        //RobotPoint point = grabbedGO.GetComponent<RobotPoint>();
+        //if (point != null)
+        //{
+        //    isGrabbingPoint = true;
+        //    currentGrabbedPointIndex = point.pointIndex;
+
+        //    // Presenter에게 "드래그 시작" 이벤트 전송
+        //    OnPointDragStart?.Invoke(currentGrabbedPointIndex);
+        //}
+        // 잡은 것이 "로봇"인지 확인
+        if (grabbedGO.CompareTag("RobotArm")) 
+        {
+            isGrabbingRobot = true;
+        }
+    }
+
+    // "잡기" 버튼을 뗐을 때
+    private void HandleGrabEnd(SelectExitEventArgs args)
+    {
+        // "포인트"를 놓고 있는 중이었다면
+        if (isGrabbingPoint)
+        {
+            // Presenter에게 "드래그 끝" 이벤트 전송 (팝업 트리거용)
+            OnPointDragEnd?.Invoke(currentGrabbedPointIndex);
+        }
+        // "로봇"을 놓고 있는 중이었다면
+        else if (isGrabbingRobot)
+        {
+            // Presenter에게 "로봇 놓기" 이벤트 전송 (팝업 트리거용)
+            RobotData currentPose = GetCurrentRobotPoseFromController();
+            OnRobotReleased?.Invoke(currentPose);
+        }
+
+        // 상태 초기화
+        isGrabbingPoint = false;
+        currentGrabbedPointIndex = -1;
+    }
+
+    private RobotData GetCurrentRobotPoseFromController()
+    {
+        // 이 View는 Presenter의 변환 로직(ConvertVrToRobotPose)을 알 수 없으므로,
+        // 현재 컨트롤러 위치/회전을 기반으로 '가짜' RobotData를 만듦
+        // Presenter가 이 데이터를 받아 어차피 다시 변환(또는 무시)해야 함
+        return new RobotData(); // 임시 데이터
     }
 
     // --- Presenter가 호출할 함수들 ---

Assets/VRTemplateAssets/Prefabs/Setup/Complete XR Origin Set Up Hands Variant.prefab

@@ -618,7 +618,19 @@ PrefabInstance:
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       insertIndex: -1
       addedObject: {fileID: 1632400500797467239}
-    m_AddedComponents: []
+    m_AddedComponents:
+    - targetCorrespondingSourceObject: {fileID: 657184243640684908, guid: d6878e1999eb4b44a9f5a263af86c185, type: 3}
+      insertIndex: -1
+      addedObject: {fileID: 3516698780648971481}
+    - targetCorrespondingSourceObject: {fileID: 657184242222895507, guid: d6878e1999eb4b44a9f5a263af86c185, type: 3}
+      insertIndex: -1
+      addedObject: {fileID: 6543791313805139832}
+    - targetCorrespondingSourceObject: {fileID: 6355494128053973299, guid: d6878e1999eb4b44a9f5a263af86c185, type: 3}
+      insertIndex: -1
+      addedObject: {fileID: 8047923434058926918}
+    - targetCorrespondingSourceObject: {fileID: 1800725127586568702, guid: d6878e1999eb4b44a9f5a263af86c185, type: 3}
+      insertIndex: -1
+      addedObject: {fileID: 4059851328209584392}
   m_SourcePrefab: {fileID: 100100000, guid: d6878e1999eb4b44a9f5a263af86c185, type: 3}
 --- !u!114 &866406836232131125 stripped
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@@ -653,6 +665,40 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 75b29b6c6428c984a8a73ffc2d58063b, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+--- !u!1 &4381072889419385576 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 6355494128053973299, guid: d6878e1999eb4b44a9f5a263af86c185, type: 3}
+  m_PrefabInstance: {fileID: 7277802326999645147}
+  m_PrefabAsset: {fileID: 0}
+--- !u!114 &8047923434058926918
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4381072889419385576}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: c1b136fe9693203418aa8d9bacb7cfcf, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+--- !u!1 &7917674758240283208 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 657184242222895507, guid: d6878e1999eb4b44a9f5a263af86c185, type: 3}
+  m_PrefabInstance: {fileID: 7277802326999645147}
+  m_PrefabAsset: {fileID: 0}
+--- !u!114 &6543791313805139832
+MonoBehaviour:
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ProjectSettings/TagManager.asset

@@ -5,6 +5,7 @@ TagManager:
   serializedVersion: 3
   tags:
   - Anchor
+  - RobotArm
   layers:
   - Default
   - TransparentFX