<fix> 로봇 Grab하는 동안 생긴 버그 해결, 놓으면 바로 멈추도록 변경, 프로그램 재생 시에도 사운드 재생하도록 변경

2025-11-25 15:15:54 +09:00
parent d599d066be
commit 810432db96
12 changed files with 347 additions and 126 deletions
--- a/Assets/Resources/Prefabs/DragArrowPrefab.prefab
+++ b/Assets/Resources/Prefabs/DragArrowPrefab.prefab
@@ -134,7 +134,7 @@ Transform:
  m_GameObject: {fileID: 9153036347640126610}
  serializedVersion: 2
  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -0.8996404, y: 1.4682918, z: 1.5212109}
+  m_LocalPosition: {x: -6.382849, y: 7.971563, z: 6.985526}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
  m_Children:
--- a/Assets/Scenes/HDRobo_Main.unity
+++ b/Assets/Scenes/HDRobo_Main.unity
@@ -43836,6 +43836,7 @@ MonoBehaviour:
  robotInfoView: {fileID: 873227714}
  programInfoView: {fileID: 1807992934}
  envView: {fileID: 971773399}
+  gripperCollide: {fileID: 2809842780563999912}
  robotController: {fileID: 806304512143720359}
  pointManagerView: {fileID: 1299890574}
  pathLineView: {fileID: 1299890572}
@@ -75135,9 +75136,10 @@ GameObject:
  - component: {fileID: 7750953148055529459}
  - component: {fileID: 7899423492771922356}
  - component: {fileID: 7899423492771922357}
+  - component: {fileID: 7899423492771922358}
  m_Layer: 0
  m_Name: "\uB85C\uBD07\uD314_06"
-  m_TagString: Untagged
+  m_TagString: Robot
  m_Icon: {fileID: 0}
  m_NavMeshLayer: 0
  m_StaticEditorFlags: 0
@@ -75396,6 +75398,9 @@ GameObject:
  - component: {fileID: 2809842780563999911}
  - component: {fileID: 1878676147561002156}
  - component: {fileID: 2580099376798576862}
+  - component: {fileID: 2809842780563999914}
+  - component: {fileID: 2809842780563999913}
+  - component: {fileID: 2809842780563999912}
  m_Layer: 0
  m_Name: "\uADF8\uB9AC\uD37C_1"
  m_TagString: Untagged
@@ -75505,6 +75510,68 @@ Transform:
  m_Children: []
  m_Father: {fileID: 6476108356885335244}
  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &2809842780563999912
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2254038508360166054}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: c1c9958a493b1e042bf5480ca2d9f3af, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  robotBodyTag: Robot
+  isTriggerRobot: 0
+--- !u!65 &2809842780563999913
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2254038508360166054}
+  m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
+  m_IsTrigger: 1
+  m_ProvidesContacts: 0
+  m_Enabled: 1
+  serializedVersion: 3
+  m_Size: {x: 0.0030580568, y: 0.0030454502, z: 0.001771739}
+  m_Center: {x: -0.00000038708095, y: 0.000021483833, z: -0.000944237}
+--- !u!54 &2809842780563999914
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2254038508360166054}
+  serializedVersion: 4
+  m_Mass: 1
+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_CenterOfMass: {x: 0, y: 0, z: 0}
+  m_InertiaTensor: {x: 1, y: 1, z: 1}
+  m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ImplicitCom: 1
+  m_ImplicitTensor: 1
+  m_UseGravity: 0
+  m_IsKinematic: 1
+  m_Interpolate: 0
+  m_Constraints: 0
+  m_CollisionDetection: 0
 --- !u!1 &3269629316409468015
 GameObject:
  m_ObjectHideFlags: 0
@@ -75516,7 +75583,6 @@ GameObject:
  - component: {fileID: 1034940619344592870}
  - component: {fileID: 8348283317296094972}
  - component: {fileID: 8218048649755986071}
-  - component: {fileID: 8348283317296094973}
  m_Layer: 6
  m_Name: "\uADF8\uB9AC\uD37C_2"
  m_TagString: Gripper
@@ -75545,9 +75611,10 @@ GameObject:
  - component: {fileID: 7875942327570384369}
  - component: {fileID: 8980508415438906781}
  - component: {fileID: 8980508415438906782}
+  - component: {fileID: 8980508415438906783}
  m_Layer: 0
  m_Name: "\uB85C\uBD07\uD314_05"
-  m_TagString: Untagged
+  m_TagString: Robot
  m_Icon: {fileID: 0}
  m_NavMeshLayer: 0
  m_StaticEditorFlags: 0
@@ -75947,6 +76014,27 @@ MeshCollider:
  m_Convex: 0
  m_CookingOptions: 30
  m_Mesh: {fileID: -2328343405082307496, guid: f8e1d25363bc3264ead6a2d4dba3d589, type: 3}
+--- !u!65 &7899423492771922358
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1019155422019270077}
+  m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
+  m_IsTrigger: 1
+  m_ProvidesContacts: 0
+  m_Enabled: 1
+  serializedVersion: 3
+  m_Size: {x: 0.0031899994, y: 0.003175993, z: 0.003566943}
+  m_Center: {x: 0.00024499983, y: 0.00034892443, z: 0.0014505462}
 --- !u!33 &7939903229847774538
 MeshFilter:
  m_ObjectHideFlags: 0
@@ -76106,27 +76194,6 @@ MeshFilter:
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 3269629316409468015}
  m_Mesh: {fileID: 3108956238139520217, guid: f8e1d25363bc3264ead6a2d4dba3d589, type: 3}
--- !u!65 &8348283317296094973
-BoxCollider:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 3269629316409468015}
-  m_Material: {fileID: 0}
-  m_IncludeLayers:
-    serializedVersion: 2
-    m_Bits: 0
-  m_ExcludeLayers:
-    serializedVersion: 2
-    m_Bits: 0
-  m_LayerOverridePriority: 0
-  m_IsTrigger: 0
-  m_ProvidesContacts: 0
-  m_Enabled: 1
-  serializedVersion: 3
-  m_Size: {x: 0.0029685243, y: 0.002955866, z: 0.0010668265}
-  m_Center: {x: -0.0000137486595, y: 0.0000029048076, z: -0.00037045297}
 --- !u!23 &8380366081719268712
 MeshRenderer:
  m_ObjectHideFlags: 0
@@ -76285,6 +76352,27 @@ MeshCollider:
  m_Convex: 0
  m_CookingOptions: 30
  m_Mesh: {fileID: 1644276158865073351, guid: f8e1d25363bc3264ead6a2d4dba3d589, type: 3}
+--- !u!65 &8980508415438906783
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 3543066072088338770}
+  m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
+  m_IsTrigger: 1
+  m_ProvidesContacts: 0
+  m_Enabled: 1
+  serializedVersion: 3
+  m_Size: {x: 0.0022507885, y: 0.0021192858, z: 0.008971175}
+  m_Center: {x: -0.000027214437, y: 0.00081971334, z: 0.0041109337}
 --- !u!4 &9208936240245234726
 Transform:
  m_ObjectHideFlags: 0
--- a/Assets/Scripts/AppManager.cs
+++ b/Assets/Scripts/AppManager.cs
@@ -15,6 +15,7 @@ public class AppManager : MonoBehaviour
    [SerializeField] private RobotInfoView robotInfoView;
    [SerializeField] private ProgramInfoView programInfoView;
    [SerializeField] private EnvView envView;
+    [SerializeField] private GripperCollide gripperCollide;
    [SerializeField] private RobotController robotController;

    private InteractionView leftInteractionView;
@@ -109,6 +110,7 @@ public class AppManager : MonoBehaviour
                robotInfoView,
                programInfoView,
                envView,
+                gripperCollide,
                leftInteractionView, rightInteractionView,
                pointManagerView,
                popupView,
--- a/Assets/Scripts/GripperCollide.cs
+++ b/Assets/Scripts/GripperCollide.cs
@@ -0,0 +1,25 @@
+using UnityEngine;
+
+public class GripperCollide : MonoBehaviour
+{
+    [Tooltip("·Îº¿ ¸öÅë¿¡ »ç¿ëµÉ ÅÂ±×")]
+    [SerializeField] private string robotBodyTag = "Robot";
+
+    public bool isTriggerRobot = false;
+
+    private void OnTriggerEnter(Collider other)
+    {
+        if (other.CompareTag(robotBodyTag))
+        {
+            isTriggerRobot = true;
+        }
+    }
+
+    private void OnTriggerExit(Collider other)
+    {
+        if (other.CompareTag(robotBodyTag))
+        {
+            isTriggerRobot = false;
+        }
+    }
+}
--- a/Assets/Scripts/GripperCollide.cs.meta
+++ b/Assets/Scripts/GripperCollide.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: c1c9958a493b1e042bf5480ca2d9f3af
--- a/Assets/Scripts/Model/ProgramModel.cs
+++ b/Assets/Scripts/Model/ProgramModel.cs
@@ -470,6 +470,7 @@ public class ProgramModel
            {
                Debug.Log("TCP POST (Move) 명령 전송 성공");
                IsMoving = true;
+                Debug.DrawLine(Camera.main.transform.position, position, Color.red, 0.1f);
                return true;
            }
            else
@@ -497,9 +498,9 @@ public class ProgramModel
    // TCP POST 이동 명령 체크
    public async Task StartMovementCheckLoopAsync(CancellationToken token)
    {
-        try
+        while (!token.IsCancellationRequested)
        {
-            while (!token.IsCancellationRequested)
+            try
            {
                if (IsMoving)
                {
@@ -525,14 +526,14 @@ public class ProgramModel
                    await Task.Delay(500, token);
                }
            }
-        }
-        catch (TaskCanceledException)
-        {
-            Debug.Log("MovementCheckLoopAsync Canceled.");
-        }
-        catch (Exception e)
-        {
-            Debug.LogError($"MovementCheckLoopAsync Error: {e.Message}\n{e.StackTrace}");
+            catch (TaskCanceledException)
+            {
+                Debug.Log("MovementCheckLoopAsync Canceled.");
+            }
+            catch (Exception e)
+            {
+                Debug.LogError($"MovementCheckLoopAsync Error: {e.Message}\n{e.StackTrace}");
+            }
        }
    }

@@ -556,7 +557,7 @@ public class ProgramModel
                {
                    this.isError = newErrorState;
                    OnRobotErrorStateChanged?.Invoke(this.isError);
-                    Debug.Log($"[이동범위] 이동 가능 상태: {newErrorState}");
+                    //Debug.Log($"[이동범위] 이동 가능 상태: {newErrorState}");
                }

                await Task.Delay(100);
@@ -573,7 +574,7 @@ public class ProgramModel
        {
            this.isError = false;
            OnRobotErrorStateChanged?.Invoke(this.isError);
-            Debug.Log("로컬 에러 상태 강제 해제 (재시도 준비)");
+            //Debug.Log("로컬 에러 상태 강제 해제 (재시도 준비)");
        }
    }

--- a/Assets/Scripts/Presenter/ProgramPresenter.cs
+++ b/Assets/Scripts/Presenter/ProgramPresenter.cs
@@ -4,6 +4,7 @@ using System.Collections.Generic;
 using System.Threading;
 using System.Threading.Tasks;
 using UnityEngine;
+using UnityEngine.UIElements;

 public enum PopupState
 {
@@ -22,6 +23,7 @@ public class ProgramPresenter
    private RobotInfoView robotInfoView;
    private ProgramInfoView programInfoView;
    private EnvView envView;
+    private GripperCollide gripperCollide;
    private RobotController controlledRobot;
    private string _programId;
    private bool lastKnownMotorState = false;
@@ -41,12 +43,12 @@ public class ProgramPresenter
    private RobotData pendingPointData; // 팝업창에 대한 응답을 기다리는 임시 데이터
    private int activePointIndex = -1;  // 현재 수정/삭제 중인 포인트의 인덱스

-    private CancellationTokenSource appCts;
+    private CancellationTokenSource dragLoopCts;
    private RobotData latestTargetPose; // 뷰가 갱신할 최신 목표 지점
    private bool IsDragging = false;
-    private bool IsStopped = false; // 에러 나서 멈췄는지 여부
    private bool errMatChanged = false; // 에러 시 로봇 mat을 빨간색으로 한 번만 바뀌도록
    private bool isHovering = false;
+    private bool isProgramStarted = false;
    private RobotData originalDragPose; // 취소 시 돌아갈 원본 위치
    private float lastMoveSendTime = 0f;
    private const float MOVE_SEND_INTERVAL = 0.1f; // 0.1초(100ms)마다 한 번만 전송 (초당 10회)
@@ -57,7 +59,7 @@ public class ProgramPresenter
    private AudioSource robotMovingAudioSource;
    private bool isFeedbackLoopRunning = false;

-    public ProgramPresenter(ProgramModel model, ProgramView view, TCPView tcpView, RobotInfoView robotInfoView, ProgramInfoView programInfoView, EnvView envView,
+    public ProgramPresenter(ProgramModel model, ProgramView view, TCPView tcpView, RobotInfoView robotInfoView, ProgramInfoView programInfoView, EnvView envView, GripperCollide gripperCollide,
        InteractionView leftView, InteractionView rightView, PointManagerView pmView, PopupView popView, PathLineView pathLineView, AudioSource robotAudio, CancellationTokenSource cts)
    {
        this.model = model;
@@ -68,6 +70,7 @@ public class ProgramPresenter
        this.robotInfoView = robotInfoView;
        this.programInfoView = programInfoView;
        this.envView = envView;
+        this.gripperCollide = gripperCollide;
        this.pointManagerView = pmView;
        this.popupView = popView;
        this.pathLineView = pathLineView;
@@ -90,7 +93,7 @@ public class ProgramPresenter
        this.envView.OnLoadProgramListRequested += HandleLoadProgramList;

        this.leftInteractionView.OnRobotHoverStateChanged += (state) => HandleRobotHover(state);
-        this.leftInteractionView.OnRobotGrabStart += () => HandleRobotGrabStart(leftView);
+        this.leftInteractionView.OnRobotGrabStart += (pos) => HandleRobotGrabStart(leftView, pos);
        this.leftInteractionView.OnRobotGrabbed += (pos, rot) => HandleRobotGrabbed(leftView, pos, rot);
        this.leftInteractionView.OnRobotReleased += (data) => HandleRobotReleased(leftView, data);
        this.leftInteractionView.OnPointClicked += (index, pos) => HandlePointClicked(leftView, index, pos);
@@ -99,7 +102,7 @@ public class ProgramPresenter
        this.leftInteractionView.OnPointDragEnd += (index) => HandlePointDragEnd(leftView, index);

        this.rightInteractionView.OnRobotHoverStateChanged += (state) => HandleRobotHover(state);
-        this.rightInteractionView.OnRobotGrabStart += () => HandleRobotGrabStart(rightView);
+        this.rightInteractionView.OnRobotGrabStart += (pos) => HandleRobotGrabStart(rightView, pos);
        this.rightInteractionView.OnRobotGrabbed += (pos, rot) => HandleRobotGrabbed(rightView, pos, rot);
        this.rightInteractionView.OnRobotReleased += (data) => HandleRobotReleased(rightView, data);
        this.rightInteractionView.OnPointClicked += (index, pos) => HandlePointClicked(rightView, index, pos);
@@ -117,7 +120,7 @@ public class ProgramPresenter
            this.robotMovingAudioSource.playOnAwake = false;
        }

-        this.appCts = cts;
+        this.dragLoopCts = cts;
    }

    public void RegisterControlledRobot(RobotController robot)
@@ -163,7 +166,10 @@ public class ProgramPresenter

    private IEnumerator UpdateRobotMovingStateCoroutine()
    {
-        var waitForOneSecond = new WaitForSeconds(1.0f);
+        var waitForInterval = new WaitForSeconds(0.2f);
+        float lastMovingTime = 0f;
+        float offDelay = 0.5f; // 0.5초 동안은 '0'이 나와도 넘어감 (유예 시간)
+
        while (true)
        {
            Task<string> getTask = model.GetMovingState();
@@ -172,23 +178,39 @@ public class ProgramPresenter

            try
            {
-                if (getTask.IsFaulted)
+                if (!getTask.IsFaulted)
+                {
+                    string currentState = getTask.Result;
+
+                    if (currentState == "1")
+                    {
+                        if (pointManagerView.movingAlert != null)
+                            pointManagerView.movingAlert.SetActive(true);
+
+                        lastMovingTime = Time.time;
+                        if(!isProgramStarted) isProgramStarted = true; // 프로그램 실행 도중 GetMovingState가 0이 되는 찰나 isProgramStarted가 false가 되어서 추가한 코드
+                    }
+                    else
+                    {
+                        // 마지막으로 움직인 지 0.5초가 지났는지 확인 (유예 시간)
+                        if (Time.time - lastMovingTime > offDelay)
+                        {
+                            if (pointManagerView.movingAlert != null)
+                                pointManagerView.movingAlert.SetActive(false);
+                            if(isProgramStarted) isProgramStarted = false; // 프로그램 실행 후 정지했을 경우
+                        }
+                    }
+                }
+                else
                {
                    throw getTask.Exception.InnerException;
                }
-
-                string currentState = getTask.Result;
-
-                if (pointManagerView.movingAlert != null)
-                {
-                    pointManagerView.movingAlert.SetActive(currentState == "1");
-                }
            }
            catch (Exception e)
            {
                Debug.LogWarning($"로봇 moving 상태 업데이트 실패: {e.Message}");
            }
-            yield return waitForOneSecond;
+            yield return waitForInterval;
        }
    }

@@ -205,7 +227,7 @@ public class ProgramPresenter

        if (!isFeedbackLoopRunning)
        {
-            _ = CheckRobotMovementFeedbackLoop(appCts.Token);
+            _ = CheckRobotMovementFeedbackLoop(dragLoopCts.Token);
        }
    }

@@ -222,7 +244,7 @@ public class ProgramPresenter
            {
                if (model.IsMoving)
                {
-                    // 로봇이 움직이는데 소리가 안 나면 킴
+                    // 로봇이 움직이는데 소리가 안 나면 켬
                    if (!robotMovingAudioSource.isPlaying)
                    {
                        robotMovingAudioSource.Play();
@@ -237,8 +259,13 @@ public class ProgramPresenter
                }
                else
                {
+                    // 프로그램 시작 시에만 켬
+                    if (isProgramStarted && !robotMovingAudioSource.isPlaying)
+                    {
+                        robotMovingAudioSource.Play();
+                    }
                    // 로봇이 멈췄는데 소리가 나면 끔
-                    if (robotMovingAudioSource.isPlaying)
+                    else if (!isProgramStarted && robotMovingAudioSource.isPlaying)
                    {
                        robotMovingAudioSource.Stop();
                    }
@@ -265,7 +292,7 @@ public class ProgramPresenter
    {
        if (isError)
        {
-            _ = model.stopProgram(); // 프로그램 실행 중인 경우면 정지
+            //_ = model.stopProgram(); // 프로그램 실행 중인 경우면 정지

            popupView.ShowErrorAlert(true, 2.0f);
            Debug.LogError("로봇 에러 발생 (범위 초과 등)");
@@ -355,11 +382,13 @@ public class ProgramPresenter

    private async Task HandleProgramStart()
    {
+        isProgramStarted = true;
        await model.startProgram();
    }

    private async Task HandleProgramStop()
    {
+        robotMovingAudioSource.Stop();
        await model.stopProgram();
    }

@@ -403,7 +432,7 @@ public class ProgramPresenter
    }

    // --- 실시간 동기화(3d->제어기) ---
-    private RobotData ConvertPoseToRobotData(Vector3 newWorldPos, Quaternion newWorldRot)
+    private RobotData ConvertPoseToRobotData(Vector3 newWorldPos)
    {
        RobotData targetPose = new RobotData();

@@ -411,11 +440,11 @@ public class ProgramPresenter
        targetPose.y = Convert.ToSingle(Math.Round(-1 * newWorldPos.z * 1000, 2));
        targetPose.z = Convert.ToSingle(Math.Round(newWorldPos.y * 1000, 2));

-        Vector3 eulerAngles = newWorldRot.eulerAngles;
+        //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));
+        //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;
    }
@@ -445,7 +474,7 @@ public class ProgramPresenter
        }
    }

-    private void HandleRobotGrabStart(InteractionView view)
+    private void HandleRobotGrabStart(InteractionView view, Vector3 newWorldPos)
    {
        activeInteractionView = view;

@@ -456,8 +485,12 @@ public class ProgramPresenter
            Debug.Log("로봇 잡음: 에러 상태 해제");
        }
        model.ResetLocalErrorState();
-        IsStopped = false;
+        dragLoopCts = new CancellationTokenSource();
+        IsDragging = true;
        errMatChanged = false;
+        gripperCollide.isTriggerRobot = false;
+
+        if (model != null) model.IsMoving = false;
    }

    private async void HandleRobotGrabbed(InteractionView view, Vector3 newWorldPos, Quaternion newWorldRot)
@@ -469,17 +502,20 @@ public class ProgramPresenter
            
            if (model.isError) 
            {
-                IsStopped = true;
-                if (!errMatChanged) // 제어기에서 에러가 false인 경우는 알려주지 않아서 계속 model.isError가 true로 실행되어 넣은 조건문
-                {
-                    controlledRobot.toolEndpoint.GetComponent<MeshRenderer>().material = controlledRobot.toolEndpointErrorHighlight;
-                    errMatChanged = true;
-                    return;
-                }
-                else
-                {
-                    controlledRobot.toolEndpoint.GetComponent<MeshRenderer>().material = controlledRobot.toolEndpointHighlight;
-                }
+                controlledRobot.toolEndpoint.GetComponent<MeshRenderer>().material = controlledRobot.toolEndpointErrorHighlight;
+                errMatChanged = true;
+                model.IsMoving = false;
+                StopDragMoveLoop();
+                //await Task.Delay(100);
+                Debug.Log("에러로 잠시 멈추고 빨간 mat설정");
+            }
+            controlledRobot.toolEndpoint.GetComponent<MeshRenderer>().material = controlledRobot.toolEndpointHighlight;
+
+            if (gripperCollide.isTriggerRobot)
+            {
+                model.IsMoving = false;
+                StopDragMoveLoop();
+                return;
            }

            if (!IsDragging)
@@ -488,26 +524,17 @@ public class ProgramPresenter
                return;
            }

-            this.latestTargetPose = ConvertPoseToRobotData(newWorldPos, newWorldRot);
-
-            // 동기화 속도를 늘리기 위해 명령 횟수 줄임
-            if (!model.isError)
+            this.latestTargetPose = ConvertPoseToRobotData(newWorldPos);
+                
+            try
            {
-                // 시간 체크: 마지막 전송 후 0.1초가 지났는가?
-                bool isTimeToSend = (Time.time - lastMoveSendTime) >= MOVE_SEND_INTERVAL;
-
-                // 거리 체크: 이전 전송 위치보다 유의미하게(1cm 이상) 움직였는가?
-                bool isDistToSend = Vector3.Distance(lastSentPosition, newWorldPos) >= MIN_MOVE_DISTANCE;
-
-                if (isTimeToSend && isDistToSend)
-                {
-                    // 전송
-                    _ = await model.MoveToPoseTcpAsync(newWorldPos);
-
-                    // 시간 및 위치 갱신
-                    lastMoveSendTime = Time.time;
-                    lastSentPosition = newWorldPos;
-                }
+                // 전송
+                _ = await model.MoveToPoseTcpAsync(newWorldPos);
+                Debug.Log($"로봇 Grabbed 상태, TCP업데이트 : {newWorldPos}");
+            }
+            catch (Exception e)
+            {
+                Debug.LogError(e.Message);
            }
        }
        catch (Exception e)
@@ -521,20 +548,63 @@ public class ProgramPresenter
    {
        if (view != activeInteractionView) return;
        IsDragging = false;
+        model.IsMoving = false;
+        StopDragMoveLoop();

        //pendingPointData = this.latestTargetPose; // 임시 저장
        pendingPointData = pose;
        controlledRobot.toolEndpoint.GetComponent<MeshRenderer>().material = controlledRobot.toolEndpointOriginal;

-        //if (!IsStopped)
-        //{
-            currentPopupState = PopupState.ConfirmAddPoint; // 상태 설정
-            _ = WaitForRobotToStopAndShowPopup(currentPopupState);
-        //}
+        currentPopupState = PopupState.ConfirmAddPoint; // 상태 설정
+        _ = WaitForRobotToStopAndShowPopup(currentPopupState);
        
        activeInteractionView = null;
    }

+    private void StopDragMoveLoop()
+    {
+        if (dragLoopCts != null)
+        {
+            dragLoopCts.Cancel();
+            dragLoopCts.Dispose();
+            dragLoopCts = null;
+            Debug.Log("dragLoop 토큰 cancel");
+        }
+    }
+
+    private void StartDragMoveLoop(Vector3 dragPosition)
+    {
+        StopDragMoveLoop(); // 중복 방지
+        dragLoopCts = new CancellationTokenSource();
+        _ = DragMoveLoopAsync(dragLoopCts.Token, dragPosition);
+    }
+
+    private async Task DragMoveLoopAsync(CancellationToken token, Vector3 dragPosition)
+    {
+        // 드래그 동안 100ms 주기로 전송
+        while (!token.IsCancellationRequested && IsDragging)
+        {
+            try
+            {
+                // 로봇이 아직 이동 중이 아니라면(대기 상태) 최신 dragPosition으로 지령 전송
+                if (model != null && !model.IsMoving)
+                {
+                    await MovingTask(dragPosition); // 내부에서 StratMovement(dragPosition) 호출 및 isMoving 갱신 :contentReference[oaicite:4]{index=4}
+                }
+
+                await Task.Delay(10, token); // 100ms 주기
+            }
+            catch (TaskCanceledException) { /* 정상 취소 */ }
+        }
+    }
+
+    private async Task MovingTask(Vector3 dragPosition)
+    {
+        if (model == null) return;
+        bool ok = await model.MoveToPoseTcpAsync(dragPosition); // 기존 호출 그대로 사용
+        if (ok) model.IsMoving = true;
+    }
+
    // --- 포인트 클릭 ---
    private void HandlePointClicked(InteractionView view, int index, Vector3 newWorldPos)
    {
@@ -558,8 +628,6 @@ public class ProgramPresenter
    // --- 포인트 드래그 ---
    private void HandlePointDragStart(InteractionView view, int index)
    {
-        IsDragging = true;
-
        activePointIndex = index;
        activeInteractionView = view;

@@ -573,6 +641,11 @@ public class ProgramPresenter
            // 반투명 로봇의 위치를 마우스 위치와 같도록 설정
            pointManagerView.kinematicsNode.targetTransform.position = startPos;
            originalDragPose = model.CurrentProgram.GetStepPose(index);
+
+            model.ResetLocalErrorState();
+            IsDragging = true;
+            dragLoopCts = new CancellationTokenSource();
+            gripperCollide.isTriggerRobot = false;
        }
    }

@@ -581,12 +654,12 @@ public class ProgramPresenter
        if (!IsDragging) return;
        if (view != activeInteractionView) return;
        pointManagerView.kinematicsNode.targetTransform.position = newWorldPos;
-        pointManagerView.kinematicsNode.targetTransform.rotation = newWorldRot;
+        //pointManagerView.kinematicsNode.targetTransform.rotation = newWorldRot;

        Vector3 ghostRobotPos = pointManagerView.kinematicsNode.nodes[5].jointTransform.position;
-        Quaternion ghostRobotRot = pointManagerView.kinematicsNode.nodes[5].jointTransform.rotation;
+        //Quaternion ghostRobotRot = pointManagerView.kinematicsNode.nodes[5].jointTransform.rotation;

-        this.latestTargetPose = ConvertPoseToRobotData(ghostRobotPos, ghostRobotRot);
+        this.latestTargetPose = ConvertPoseToRobotData(ghostRobotPos);
        activeInteractionView.ShowDragArrow(newWorldPos); // 마우스 이미지 변경

        // 고스트 로봇, 포인트, 경로 실시간 이동
@@ -607,6 +680,7 @@ public class ProgramPresenter

        Vector3 popupWorldPos = ConvertRobotDataToVector3(pendingPointData);
        await model.MoveToPoseTcpAsync(popupWorldPos);
+        //StartDragMoveLoop(popupWorldPos);

        currentPopupState = PopupState.ConfirmModifyPoint; // 상태 설정

@@ -679,25 +753,31 @@ public class ProgramPresenter

    private async Task WaitForRobotToStopAndShowPopup(PopupState nextState)
    {
-        await Task.Delay(200);
-        while (await model.GetMovingState() == "1")
-        {
-            Debug.Log("로봇이 멈추기를 기다리는 중...");
-            await Task.Delay(100);
-        }
-
-        Debug.Log("로봇 정지 완료. 팝업 표시.");
-        currentPopupState = nextState;
-
        Vector3 popupWorldPos = Vector3.zero;
+        currentPopupState = nextState;

        if (nextState == PopupState.ConfirmAddPoint)
        {
+            if(!IsDragging) StopDragMoveLoop();
+            while (await model.GetMovingState() == "1")
+            {
+                Debug.Log("로봇이 멈추기를 기다리는 중...");
+                await Task.Delay(100);
+            }
+            model.IsMoving = false;
+            StopDragMoveLoop();
+            Debug.Log("로봇 정지 완료. 팝업 표시.");
            popupWorldPos = ConvertRobotDataToVector3(pendingPointData);
            popupView.ShowConfirmPopupFromPoint(popupWorldPos); // 새 포인트 위치
        }
        else if(nextState == PopupState.ConfirmModifyPoint)        
        {
+            while (await model.GetMovingState() == "1")
+            {
+                Debug.Log("로봇이 멈추기를 기다리는 중...");
+                await Task.Delay(100);
+            }
+            Debug.Log("로봇 정지 완료. 팝업 표시.");
            popupWorldPos = ConvertRobotDataToVector3(pendingPointData);
            popupView.ShowModifyPopup(popupWorldPos);
        }
@@ -773,6 +853,7 @@ public class ProgramPresenter
        this.envView.OnLoadProgramListRequested -= HandleLoadProgramList;

        this.leftInteractionView.OnRobotHoverStateChanged -= (state) => HandleRobotHover(state);
+        this.leftInteractionView.OnRobotGrabStart -= (pos) => HandleRobotGrabStart(leftInteractionView, pos);
        this.leftInteractionView.OnRobotGrabbed -= (pos, rot) => HandleRobotGrabbed(leftInteractionView, pos, rot);
        this.leftInteractionView.OnRobotReleased -= (data) => HandleRobotReleased(leftInteractionView, data);
        this.leftInteractionView.OnPointClicked -= (index, pos) => HandlePointClicked(leftInteractionView, index, pos);
@@ -781,6 +862,7 @@ public class ProgramPresenter
        this.leftInteractionView.OnPointDragEnd -= (index) => HandlePointDragEnd(leftInteractionView, index);

        this.rightInteractionView.OnRobotHoverStateChanged -= (state) => HandleRobotHover(state);
+        this.rightInteractionView.OnRobotGrabStart -= (pos) => HandleRobotGrabStart(rightInteractionView, pos);
        this.rightInteractionView.OnRobotGrabbed -= (pos, rot) => HandleRobotGrabbed(this.rightInteractionView, pos, rot);
        this.rightInteractionView.OnRobotReleased -= (data) => HandleRobotReleased(this.rightInteractionView, data);
        this.rightInteractionView.OnPointClicked -= (index, pos) => HandlePointClicked(this.rightInteractionView, index, pos);
--- a/Assets/Scripts/View/InteractionView.cs
+++ b/Assets/Scripts/View/InteractionView.cs
@@ -10,7 +10,7 @@ public enum HandSide { Left, Right }
 public class InteractionView : MonoBehaviour
 {
    public event Action<bool> OnRobotHoverStateChanged;
-    public event Action OnRobotGrabStart;
+    public event Action<Vector3> OnRobotGrabStart;
    public event Action<Vector3, Quaternion> OnRobotGrabbed;
    public event Action<RobotData> OnRobotReleased;
    public event Action<int, Vector3> OnPointClicked;
@@ -173,7 +173,7 @@ public class InteractionView : MonoBehaviour
            isGrabbingRobot = true;
            currentGrabbedPointIndex = -1;

-            OnRobotGrabStart?.Invoke();
+            OnRobotGrabStart?.Invoke(startGrabPosition);
            OnPointDragStart?.Invoke(currentGrabbedPointIndex);
        }
    }
--- a/Assets/Scripts/View/PathLineView.cs
+++ b/Assets/Scripts/View/PathLineView.cs
@@ -3,13 +3,8 @@ using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;

-// 인터페이스
-public interface IPathLineView
-{
-}
-
 [RequireComponent(typeof(LineRenderer))]
-public class PathLineView : MonoBehaviour, IPathLineView
+public class PathLineView : MonoBehaviour
 {
    private LineRenderer lineRenderer;

--- a/Assets/Scripts/View/PointManagerView.cs
+++ b/Assets/Scripts/View/PointManagerView.cs
@@ -21,21 +21,43 @@ public class PointManagerView : MonoBehaviour

    private Vector3 ConvertRobotDataToVector3(RobotData pose)
    {
-        float x = Convert.ToSingle(pose.x / -1000.0); // mm -> m
+        float x = Convert.ToSingle(pose.x / -1000.0); // Robot X(mm) -> Unity X(m)
        float y = Convert.ToSingle(pose.z / 1000.0);  // Robot Z(mm) -> Unity Y(m)
        float z = Convert.ToSingle(pose.y / -1000.0); // Robot Y(mm) -> Unity Z(m)
        return new Vector3(x, y, z);
    }

+    private Quaternion ConvertRobotDataToQuaternion(RobotData pose)
+    {
+        float rx = pose.rx;
+        float ry = pose.z;
+        float rz = pose.y;
+
+        return Quaternion.Euler(pose.rx, -pose.rz, pose.ry);
+    }
+
    public void CreatePoint(RobotData pose, int index)
    {
+        if(pointPrefab == null)
+        {
+            Debug.Log("마커 프리팹이 할당되지 않았습니다.");
+            return;
+        }
        Vector3 localPos = ConvertRobotDataToVector3(pose);
-        Vector3 worldPos = localPos;
+        //Quaternion localRot = ConvertRobotDataToQuaternion(pose);

+        //Vector3 toolOffset = new Vector3(0.681004044f, -0.221942063f, -0.447616011f);
+        //Vector3 rotatedOffset = localRot * toolOffset;
+        //Vector3 finalLocalPos = localPos + rotatedOffset;
+
+        Vector3 worldPos = localPos;
+        //Quaternion worldRot = localRot;
+        
        // 로봇 Base가 있다면, 로컬 좌표를 월드 좌표로 변환
        if (robotBaseTransform != null)
        {
            worldPos = robotBaseTransform.TransformPoint(localPos);
+            //worldRot = robotBaseTransform.rotation * localRot;
        }
        else
        {
@@ -44,6 +66,9 @@ public class PointManagerView : MonoBehaviour

        // 변환된 월드 좌표에 생성
        GameObject pointObj = Instantiate(pointPrefab, worldPos, Quaternion.identity, this.transform);
+        Debug.Log($"마커 프리팹 생성됨, 위치: {worldPos}");
+            
+        //pointObj.transform.localRotation = Quaternion.identity;
        activePoints.Add(pointObj);

        RobotPoint pointComponent = pointObj.GetComponent<RobotPoint>();
--- a/Assets/Scripts/View/ProgramInfoView.cs
+++ b/Assets/Scripts/View/ProgramInfoView.cs
@@ -122,7 +122,7 @@ public class ProgramInfoView : MonoBehaviour
    private void ShowProgramInfoPanel(InputAction.CallbackContext obj)
    {
        isPressingX = !isPressingX;
-        if (!isPressingX)
+        if (isPressingX)
        {
            infoPanel.transform.SetParent(leftControllerTransform);
            infoPanel.transform.localPosition = new Vector3(0f, 0.2f, 0f);
@@ -143,7 +143,7 @@ public class ProgramInfoView : MonoBehaviour
    private void PlayProgram(InputAction.CallbackContext obj)
    {
        isPressingAorB = !isPressingAorB;
-        if (!isPressingAorB)
+        if (isPressingAorB)
        {
            OnStartClicked?.Invoke();
        }
--- a/ProjectSettings/TagManager.asset
+++ b/ProjectSettings/TagManager.asset
@@ -9,6 +9,7 @@ TagManager:
  - Point
  - DropZone
  - Gripper
+  - Robot
  layers:
  - Default
  - TransparentFX