first commit

Assets/dobot/Sc/Frame.cs

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+using UnityEngine;
+
+public class Frame
+{
+    public Vector3 Position;
+    public Quaternion Rotation;
+
+    public Frame(Vector3 p, Quaternion r)
+    {
+        Position = p;
+        Rotation = r;
+    }
+}

Assets/dobot/Sc/Frame.cs.meta

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+fileFormatVersion: 2
+guid: 5f7d94ca20c2ce04e86338988f5d8668

Assets/dobot/Sc/MotionPlanner.cs

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+using System.Collections.Generic;
+using UnityEngine;
+
+public class MotionPlanner
+{
+    public Frame[] GeneratePath(Frame start, Frame end, int steps)
+    {
+        var list = new List<Frame>();
+        if (steps <= 0)
+        {
+            list.Add(new Frame(end.Position, end.Rotation));
+            return list.ToArray();
+        }
+
+        for (int i = 0; i <= steps; i++)
+        {
+            float t = i / (float)steps;
+            Vector3 pos = Vector3.Lerp(start.Position, end.Position, t);
+            Quaternion rot = Quaternion.Slerp(start.Rotation, end.Rotation, t);
+            list.Add(new Frame(pos, rot));
+        }
+        return list.ToArray();
+    }
+
+
+    // Utility: create N repeated frames (hold)
+    public Frame[] RepeatFrame(Frame f, int count)
+    {
+        if (count <= 0) return new Frame[0];
+        Frame[] arr = new Frame[count];
+        for (int i = 0; i < count; i++) arr[i] = new Frame(f.Position, f.Rotation);
+        return arr;
+    }
+}

Assets/dobot/Sc/MotionPlanner.cs.meta

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+fileFormatVersion: 2
+guid: 6e04dc4a0c65cf84f8b5e35021278aff

Assets/dobot/Sc/PickDropHandler.cs

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+using System;
+using System.Collections;
+using UnityEngine;
+
+public partial class RobotController
+{
+    public class PickDropHandler
+    {
+        private Animator animator;
+        private AnimationClip animationUClip;
+        private AnimationClip animationDClip;
+
+        public void Init(Animator animator)
+        {
+            this.animator = animator;
+            animator.SetBool("p", false);
+            animator.SetBool("d", false);
+
+            InitializeAnimationClips();
+        }
+
+        private void InitializeAnimationClips()
+        {
+            if (animator == null || animator.runtimeAnimatorController == null)
+            {
+                Debug.LogError("Animator hoặc AnimatorController không được gán!");
+                return;
+            }
+
+            var clips = animator.runtimeAnimatorController.animationClips;
+            foreach (var clip in clips)
+            {
+                if (clip.name.ToLower().Contains("pick"))
+                    animationUClip = clip;
+                else if (clip.name.ToLower().Contains("drop"))
+                    animationDClip = clip;
+            }
+        }
+
+        public IEnumerator PlayPick(MonoBehaviour runner)
+        {
+            if (runner == null)
+            {
+                throw new ArgumentNullException(nameof(runner));
+            }
+
+            animator.SetBool("p", true);
+            animator.SetBool("d", false);
+            yield return new WaitForSeconds(animationUClip != null ? animationUClip.length : 0f);
+        }
+
+        public IEnumerator PlayDrop(MonoBehaviour runner)
+        {
+            if (runner == null)
+            {
+                throw new ArgumentNullException(nameof(runner));
+            }
+
+            animator.SetBool("p", false);
+            animator.SetBool("d", true);
+            yield return new WaitForSeconds(animationDClip != null ? animationDClip.length : 0f);
+        }
+
+        public void AttachObjToAmr(Transform endEffector, Transform obj)
+        {
+            if (obj == null) return;
+            obj.SetParent(endEffector);
+            obj.SetLocalPositionAndRotation(Vector3.zero, Quaternion.identity);
+        }
+
+        public void DetachObj(Transform obj)
+        {
+            if (obj != null)
+                obj.SetParent(null);
+        }
+    }
+}

Assets/dobot/Sc/PickDropHandler.cs.meta

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+fileFormatVersion: 2
+guid: e92a39b818e889f459c8c282fff6db3f

Assets/dobot/Sc/Robot2Controller.cs

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+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading.Tasks;
+using UnityEngine;
+using static RobotController;
+
+public partial class Robot2Controller : MonoBehaviour
+{
+    // ===== Enums =====
+    public enum StepType { Move, Pick, Drop, AttachA, AttachB, DetachA, DetachB, Detach, CustomAction, Delay, LinearMove, MoveJoints, Parallel }
+    public enum GraspMode { Top, Right, Left, Font }
+    public enum EffectorType { A, B }   // NEW
+
+    // ===== Nested Classes =====
+    [System.Serializable]
+    public class Step
+    {
+        public StepType Type;
+        public Frame[] Path;
+        public System.Action Action;
+        public float DelayTime;
+        public float[] JointAngles;
+        public float MoveDuration;
+        public List<IEnumerator> ParallelCoroutines;
+        public EffectorType Effector;   // NEW
+
+        public Step(StepType type, EffectorType effector = EffectorType.A)
+        {
+            Type = type;
+            Effector = effector;
+        }
+    }
+
+    public class HomeData
+    {
+        public float[] Angles;
+        public Frame FrameAtZero;
+        public Frame FrameAtAngles;
+
+        public HomeData(float[] angles, Frame frameAtZero, Frame frameAtAngles)
+        {
+            Angles = angles;
+            FrameAtZero = frameAtZero;
+            FrameAtAngles = frameAtAngles;
+        }
+    }
+
+    // ===== Public Fields =====
+    [Header("Joints Setup")]
+    public RobotJoint[] Joints;
+
+    [Header("Phoi từ ABB (đang xử lý)")]
+    public Transform currentPhoiFromAbbA;   
+    public Transform currentPhoiFromAbbB;
+
+    [Header("Targets")]
+    public Transform target3;
+    public Transform target4;
+    public Transform target42;
+    public Transform linearTarget4;
+    public Transform target51;
+    public Transform target52;
+    public Transform target7;
+    public Transform target8;
+    public float LinearSpeed = 1f;
+    public Transform LinearBase;
+    public Transform LinearHome;
+
+    [Header("Motion Settings")]
+    public int Steps = 80;
+    public float StepDelay = 0.02f;
+    public float LiftHeight = 0.2f;
+    public int HoldFrames1 = 30;
+    [Range(0f, 1f)] public float ApplyAlpha = 0.35f;
+
+    [Header("Animation Handler")]
+    public Animator armAnimator;
+
+    [Header("References")]
+    public RobotController robot1;
+
+    [Header("Phoi Settings (clones)")]
+    public Transform PhoiForBPrefab;     // prefab gốc
+    public Transform PhoiForBInstance;  // instance của mỗi vòng
+
+
+    [Header("Phoi từ ABB (đang xử lý)")]
+    public Transform currentPhoiFromAbb;
+
+    [Header("End Effectors")]
+    public Transform EndEffectorA;
+    public Transform EndEffectorB;
+
+    // ===== Private Fields =====
+    private SolverCCD solverA;
+    private SolverCCD solverB;
+    private MotionPlanner planner;
+    private List<Step> steps;
+    private int currentStepIndex;
+    private float[] lastAppliedAngles;
+    private PickDropHandler pickDropHandler;
+
+    private readonly Queue<Transform> phoiQueue = new();
+    private readonly Queue<Transform> abbPhoiQueue = new();
+
+    public bool IsPart2Done { get; private set; } = true;
+
+    // ===== Unity Lifecycle =====
+    void Start()
+    {
+        if (Joints.Length == 0 || EndEffectorA == null || EndEffectorB == null || armAnimator == null)
+        {
+            Debug.LogError("Thiếu cấu hình Robot2Controller!");
+            enabled = false;
+            return;
+        }
+
+        foreach (var j in Joints) j.Init();
+
+        solverA = new SolverCCD(Joints, EndEffectorA);
+        solverB = new SolverCCD(Joints, EndEffectorB);
+        planner = new MotionPlanner();
+
+        lastAppliedAngles = ReadCurrentAngles();
+
+        pickDropHandler = new PickDropHandler();
+        pickDropHandler.Init(armAnimator);
+
+        //InitPhoiStack();
+    }
+
+    // ===== Public API =====
+    public IEnumerator RunStepsExternal()
+    {
+        // spawn one phoi B at transfer location for this cycle (so AttachB has something)
+        if (PhoiForBPrefab != null && target4 != null)
+        {
+            Quaternion zRot = Quaternion.Euler(0, 0, 90);
+            currentPhoiFromAbbB = Instantiate(PhoiForBPrefab, target4.position, target4.rotation * zRot);
+            currentPhoiFromAbbB.name = $"PhoiForB_{Time.frameCount}";
+            Debug.Log($"[RunStepsExternal] Spawned {currentPhoiFromAbbB.name}");
+        }
+
+        BuildSteps();
+        currentStepIndex = 0;
+
+        while (currentStepIndex < steps.Count)
+        {
+            Step step = steps[currentStepIndex];
+
+            switch (step.Type)
+            {
+                case StepType.Move:
+                    yield return StartCoroutine(DoMove(step.Path, step.Effector));
+                    break;
+                case StepType.MoveJoints:
+                    yield return StartCoroutine(DoMoveToJoints(step.JointAngles, step.MoveDuration));
+                    break;
+                case StepType.Pick:
+                    yield return StartCoroutine(pickDropHandler.PlayPick(this));
+                    break;
+                case StepType.Drop:
+                    yield return StartCoroutine(pickDropHandler.PlayDrop(this));
+                    break;
+                case StepType.AttachA:
+                    HandleAttachA();
+                    break;
+                case StepType.DetachA:
+                    HandleDetachA();
+                    break;
+                case StepType.AttachB:
+                    HandleAttachB();
+                    break;
+                case StepType.DetachB:
+                    HandleDetachB();
+                    break;
+                case StepType.Detach:
+                    DA();
+                    DB();
+                    break;
+                case StepType.CustomAction:
+                    step.Action?.Invoke();
+                    break;
+                case StepType.Delay:
+                    yield return new WaitForSeconds(step.DelayTime);
+                    break;
+                case StepType.LinearMove:
+                    if (step.Path != null && step.Path.Length > 0)
+                        yield return StartCoroutine(DoLinearMove(step.Path[0], step.DelayTime));
+                    break;
+                case StepType.Parallel:
+                    if (step.ParallelCoroutines != null && step.ParallelCoroutines.Count > 0)
+                        yield return StartCoroutine(RunParallel(step.ParallelCoroutines));
+                    break;
+            }
+
+            currentStepIndex++;
+        }
+
+        // ✅ Sau khi kết thúc 1 vòng → xóa phôi của A
+        if (currentPhoiFromAbbA != null) { Destroy(currentPhoiFromAbbA.gameObject); currentPhoiFromAbbA = null; }
+    }
+
+    public bool HasPhoiAtTarget3() => abbPhoiQueue.Count > 0;
+
+    public void EnqueuePhoi(Transform phoi)
+    {
+        if (phoi == null)
+        {
+            Debug.LogWarning("EnqueuePhoi nhận null");
+            return;
+        }
+
+        // Snap về target3
+        phoi.SetPositionAndRotation(target3.position, target3.rotation);
+        phoi.SetParent(null);
+
+        abbPhoiQueue.Enqueue(phoi);
+    }
+
+    // ===== Attach / Detach =====
+    void HandleAttachA()
+    {
+        if (abbPhoiQueue.Count == 0) return;
+
+        currentPhoiFromAbbA = abbPhoiQueue.Dequeue();
+        if (currentPhoiFromAbbA == null) return;
+
+        pickDropHandler.AttachObjToAmr(EndEffectorA, currentPhoiFromAbbA);
+        Debug.Log($"[AttachA] {currentPhoiFromAbbA.name} gắn vào EndEffectorA");
+    }
+
+    void HandleDetachA()
+    {
+        if (currentPhoiFromAbbA != null)
+        {
+            pickDropHandler.DetachObj(currentPhoiFromAbbA);
+            Debug.Log($"[DetachA] Tháo {currentPhoiFromAbbA.name} khỏi EndEffectorA");
+        }
+    }
+    void DA()
+    {
+        Destroy(currentPhoiFromAbbA.gameObject);   // ❌ Xóa luôn phôi
+        currentPhoiFromAbbA = null;
+    }
+
+    void HandleAttachB()
+    {
+        if (currentPhoiFromAbbB == null)
+        {
+            Debug.LogWarning("[AttachB] currentPhoiFromAbbB NULL");
+            return;
+        }
+
+        pickDropHandler.AttachObjToAmr(EndEffectorB, currentPhoiFromAbbB);
+        Debug.Log($"[AttachB] {currentPhoiFromAbbB.name} gắn vào EndEffectorB");
+    }
+
+    void HandleDetachB()
+    {
+        if (currentPhoiFromAbbB != null)
+        {
+            pickDropHandler.DetachObj(currentPhoiFromAbbB);
+            Debug.Log($"[DetachB] Tháo và Destroy {currentPhoiFromAbbB.name}");
+        }
+    }
+    void DB()
+    {
+        Destroy(currentPhoiFromAbbB.gameObject);   // ❌ Xóa luôn phôi
+        currentPhoiFromAbbB = null;
+    }
+    IEnumerator RunParallel(List<IEnumerator> coroutines)
+    {
+        var running = coroutines.Select(StartCoroutine).ToList();
+        foreach (var r in running) yield return r;
+    }
+
+    void BuildSteps()
+    {
+        steps = new List<Step>();
+
+        HomeData homeAtLinearHome = GetHomeAtLinear(LinearHome);
+        HomeData homeAtTarget4 = GetHomeAtLinear(linearTarget4, homeAtLinearHome.Angles);
+
+        Frame t1 = CreateFrameFromTransform(target3, GraspMode.Top);
+        Frame k1 = CreateLiftFrame(t1, LiftHeight, GraspMode.Top);
+
+        Quaternion yOffset = Quaternion.Euler(0, -90, 0);
+        Quaternion yOffsetv = Quaternion.Euler(0, 90, 0);   
+
+        Frame t2 = CreateFrameFromTransform(target4, GraspMode.Right, yOffset);
+        Frame t2v = CreateFrameFromTransform(target42, GraspMode.Right, yOffsetv);
+
+        Frame t3 = CreateFrameFromTransform(target7);
+        Frame t4 = CreateFrameFromTransform(target8);
+        Frame k4 = CreateLiftFrame(t4, LiftHeight, GraspMode.Top);
+
+        Frame k2 = CreateLiftFrame(t2, LiftHeight, GraspMode.Right);
+        Frame k2v = CreateLiftFrame(t2v, LiftHeight, GraspMode.Right);
+
+
+        // Về home
+        steps.Add(new Step(StepType.MoveJoints)
+        {
+            JointAngles = CloneAngles(homeAtLinearHome.Angles),
+            MoveDuration = 1f
+        });
+
+        // Pick object
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(new Frame(EndEffectorA.position, EndEffectorA.rotation), k1, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k1, t1, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.RepeatFrame(t1, HoldFrames1) });
+        steps.Add(new Step(StepType.AttachA));
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t1, k1, Steps).ToArray() });
+        steps.Add(new Step(StepType.MoveJoints){JointAngles = CloneAngles(homeAtLinearHome.Angles),MoveDuration = 1f});
+        steps.Add(new Step(StepType.LinearMove){Path = new[] { CreateFrameFromTransform(linearTarget4) },DelayTime = 3f});
+        steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.GeneratePath(homeAtTarget4.FrameAtZero, k2, Steps).ToArray() });
+
+        steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.GeneratePath(k2, t2, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.RepeatFrame(t2, HoldFrames1) });
+        steps.Add(new Step(StepType.AttachB));
+        steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.GeneratePath(t2, k2, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.GeneratePath(k2, homeAtTarget4.FrameAtAngles, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(homeAtTarget4.FrameAtAngles, k2v, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k2v, t2v, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.RepeatFrame(t2v, HoldFrames1) });
+        steps.Add(new Step(StepType.DetachA));
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t2v,k2v, Steps).ToArray() });
+
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k2v, homeAtTarget4.FrameAtAngles, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(homeAtTarget4.FrameAtAngles, t3, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t3,k4, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k4,t4, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.RepeatFrame(t4, HoldFrames1) });
+        steps.Add(new Step(StepType.DetachB));
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t4,k4, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k4,t3, Steps).ToArray() });
+        steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t3,homeAtTarget4.FrameAtAngles, Steps).ToArray() });
+        steps.Add(new Step(StepType.Detach));
+
+        // Snap lại home
+        steps.Add(new Step(StepType.MoveJoints){ JointAngles = CloneAngles(homeAtLinearHome.Angles), MoveDuration = 1f});
+
+        // Parallel: Linear về + Part1 + Part2
+        steps.Add(new Step(StepType.Parallel)
+        {
+            ParallelCoroutines = new List<IEnumerator> {
+                DoLinearMove(new Frame(LinearHome.position, LinearHome.rotation), 3f),
+                
+                Part2Routine()
+            }
+        });
+
+        steps.Add(new Step(StepType.Delay) { DelayTime = 1f });
+    }
+
+    IEnumerator Part1Routine()
+    {
+        if (currentPhoiFromAbb == null) yield break;
+
+        yield return MoveObject(currentPhoiFromAbb, target4, target4, 0f, true);
+        currentPhoiFromAbb = null;
+    }
+
+    IEnumerator Part2Routine()
+    {
+        StartCoroutine(Part1Routine());
+        Task.Delay(1000);
+        IsPart2Done = false;
+        if (phoiQueue.Count == 0) yield break;
+
+        Transform currentPhoi = phoiQueue.Dequeue();
+        currentPhoi.gameObject.SetActive(true);
+
+        yield return MoveObject(currentPhoi, target51, target52, 3f, true);
+        IsPart2Done = true;
+    }
+
+    // ===== Motion Helpers =====
+    public IEnumerator MoveObject(Transform obj, Transform from, Transform to, float duration, bool destroyOnFinish = false)
+    {
+        if (obj == null) yield break;
+
+        from.GetPositionAndRotation(out Vector3 startPos, out Quaternion startRot);
+        float elapsed = 0f;
+
+        while (elapsed < duration)
+        {
+            elapsed += Time.deltaTime;
+            float t = Mathf.Clamp01(elapsed / duration);
+            obj.SetPositionAndRotation(
+                Vector3.Lerp(startPos, to.position, t),
+                Quaternion.Slerp(startRot, to.rotation, t)
+            );
+            yield return null;
+        }
+
+        if (destroyOnFinish)
+        {
+            Destroy(obj.gameObject);
+        }
+    }
+
+    IEnumerator DoMove(Frame[] path, EffectorType effector)
+    {
+        SolverCCD solver = (effector == EffectorType.A) ? solverA : solverB;
+        foreach (var frame in path)
+        {
+            float[] jointValues = solver.SolveIK(frame);
+            for (int j = 0; j < Joints.Length && j < jointValues.Length; j++)
+            {
+                float applied = Mathf.Lerp(lastAppliedAngles[j], jointValues[j], ApplyAlpha);
+                lastAppliedAngles[j] = applied;
+                Joints[j].SetValue(applied);
+            }
+            yield return new WaitForSeconds(StepDelay);
+        }
+    }
+
+    IEnumerator DoMoveToJoints(float[] targetAngles, float duration = 0.75f)
+    {
+        if (targetAngles == null) yield break;
+
+        int frames = Steps;
+        if (duration > 0f) StepDelay = duration / frames;
+
+        float[] startAngles = ReadCurrentAngles();
+
+        for (int f = 0; f < frames; f++)
+        {
+            float t = (float)f / (frames - 1);
+            for (int j = 0; j < Joints.Length; j++)
+            {
+                float angle = Mathf.Lerp(startAngles[j], targetAngles[j], t);
+                Joints[j].SetValue(angle);
+                lastAppliedAngles[j] = angle;
+            }
+            yield return new WaitForSeconds(StepDelay);
+        }
+    }
+
+    IEnumerator DoLinearMove(Frame target, float duration)
+    {
+        if (LinearBase == null) yield break;
+
+        LinearBase.GetPositionAndRotation(out Vector3 startPos, out Quaternion startRot);
+        float elapsed = 0f;
+        while (elapsed < duration)
+        {
+            elapsed += Time.deltaTime;
+            float t = Mathf.Clamp01(elapsed / duration);
+            LinearBase.SetPositionAndRotation(
+                Vector3.Lerp(startPos, target.Position, t),
+                Quaternion.Slerp(startRot, target.Rotation, t)
+            );
+            yield return null;
+        }
+    }
+
+    // ===== Utility Helpers =====
+    HomeData GetHomeAtLinear(Transform linearPose, float[] referenceAngles = null)
+    {
+        if (linearPose == null) return null;
+
+        LinearBase.GetPositionAndRotation(out Vector3 oldPos, out Quaternion oldRot);
+        float[] backupAngles = ReadCurrentAngles();
+
+        LinearBase.SetPositionAndRotation(linearPose.position, linearPose.rotation);
+
+        float[] refAngles = referenceAngles != null ? CloneAngles(referenceAngles) : ReadCurrentAngles();
+
+        for (int i = 0; i < Joints.Length; i++) Joints[i].SetValue(0f);
+        Frame frameAtZero = new(EndEffectorA.position, EndEffectorA.rotation);
+
+        for (int i = 0; i < Joints.Length; i++) Joints[i].SetValue(refAngles[i]);
+        Frame frameAtAngles = new(EndEffectorA.position, EndEffectorA.rotation);
+
+        for (int i = 0; i < Joints.Length; i++) Joints[i].SetValue(backupAngles[i]);
+        LinearBase.SetPositionAndRotation(oldPos, oldRot);
+
+        return new HomeData(refAngles, frameAtZero, frameAtAngles);
+    }
+
+    float[] ReadCurrentAngles()
+    {
+        float[] a = new float[Joints.Length];
+        for (int i = 0; i < Joints.Length; i++) a[i] = Joints[i].GetValue();
+        return a;
+    }
+
+    float[] CloneAngles(float[] src)
+    {
+        if (src == null) return null;
+        var dst = new float[src.Length];
+        System.Array.Copy(src, dst, src.Length);
+        return dst;
+    }
+
+    private Frame CreateLiftFrame(Frame target, float lift, GraspMode _) =>
+        new(target.Position + Vector3.up * lift, target.Rotation);
+
+    Frame CreateFrameFromTransform(Transform t, GraspMode mode, Quaternion extraRotation) =>
+        new(t.position, GetGraspRotation(mode) * extraRotation);
+
+    Frame CreateFrameFromTransform(Transform t, GraspMode mode) =>
+        new(t.position, GetGraspRotation(mode));
+
+
+    Frame CreateFrameFromTransform(Transform t) =>
+        new(t.position, t.rotation);
+
+
+    Quaternion GetGraspRotation(GraspMode mode)
+    {
+        return mode switch
+        {
+            GraspMode.Right => Quaternion.LookRotation(Vector3.up, Vector3.left),
+            GraspMode.Top => Quaternion.LookRotation(Vector3.right, Vector3.up),
+            GraspMode.Left => Quaternion.LookRotation(Vector3.left),
+            _ => Quaternion.identity,
+        };
+    }
+}

Assets/dobot/Sc/Robot2Controller.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 2e65dfdf8ad7bb34889658e82d54bf64

Assets/dobot/Sc/RobotController.cs

@@ -0,0 +1,316 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+public partial class RobotController : MonoBehaviour
+{
+    public enum StepType { Move, MoveJoints, Pick, Drop, Attach, Detach, Action, Delay, CustomAction }
+
+    [System.Serializable]
+    public class Step
+    {
+        public StepType Type;
+        public Frame[] Path;
+        public System.Action Action;
+        public float Delay;
+        public float[] JointAngles;
+        public float MoveDuration;
+
+        public Step(StepType type, Frame[] path = null, System.Action action = null, float delay = 0f, float[] jointAngles = null, float moveDuration = 0)
+        {
+            Type = type;
+            Path = path;
+            Action = action;
+            Delay = delay;
+            JointAngles = jointAngles;
+            MoveDuration = moveDuration;
+        }
+    }
+
+    [Header("Joints Setup")]
+    public RobotJoint[] joints;
+
+    [Header("End Effector")]
+    public Transform endEffector;
+
+    [Header("Targets")]
+    public Transform target1;
+    public Transform target2;
+    public Transform target3;
+    public int HoldFrames = 30;
+
+    [Header("Settings")]
+    public int stepsPerMove = 80;
+    public float stepDelay = 0.02f;
+    public float liftHeight = 0.2f;
+    [Range(0f, 1f)] public float applyAlpha = 0.35f;
+
+    [Header("Animation")]
+    public Animator armAnimator;
+
+    [Header("Objects")]
+    public Transform objectPrefab;
+    public Transform currentObject;
+
+    [Header("Stack Settings")]
+    public Transform objectStacktran;
+    public int stackCount = 12;
+    public float stackSpacingY = 0.1f;
+    public float shiftDelay = 3f;
+    public float shiftDuration = 0.5f;
+
+    SolverCCD solver;
+    MotionPlanner planner;
+    PickDropHandler pickDrop;
+    List<Step> steps;
+    float[] lastAngles;
+
+    private readonly List<Transform> objectStack = new();
+    private Transform nextTop;
+
+    public Transform LastStackObject { get; set; }    // đối tượng ABB vừa đặt ở target3
+    public System.Action OnCompleted;
+
+    void Awake()
+    {
+        if (joints == null || joints.Length == 0 || endEffector == null)
+        {
+            Debug.LogError("RobotController: Thiếu joints hoặc endEffector!");
+            enabled = false;
+            return;
+        }
+
+        foreach (var j in joints) j.Init();
+        solver = new SolverCCD(joints, endEffector);
+        planner = new MotionPlanner();
+        pickDrop = new PickDropHandler();
+        pickDrop.Init(armAnimator);
+
+        lastAngles = new float[joints.Length];
+        for (int i = 0; i < joints.Length; i++) lastAngles[i] = joints[i].GetValue();
+
+        InitObjectStack();
+    }
+
+    // ========== STACK ==========
+    void InitObjectStack()
+    {
+        if (objectPrefab == null || objectStacktran == null) return;
+
+        objectStack.Clear();
+        objectStacktran.GetPositionAndRotation(out Vector3 basePos, out Quaternion baseRot);
+        for (int i = 0; i < stackCount; i++)
+        {
+            Vector3 pos = basePos + Vector3.up * (stackSpacingY * i);
+            Transform obj = Instantiate(objectPrefab, pos, baseRot, objectStacktran);
+            obj.name = $"StackObject_{i}";
+            objectStack.Add(obj);
+        }
+        nextTop = null;
+    }
+
+    Transform PeekTop() => objectStack.Count > 0 ? objectStack.Last() : null;
+    Transform PopTop()
+    {
+        if (objectStack.Count == 0) return null;
+        var t = objectStack.Last();
+        objectStack.RemoveAt(objectStack.Count - 1);
+        return t;
+    }
+
+    IEnumerator ShiftStackUpAfterDelay()
+    {
+        yield return new WaitForSeconds(shiftDelay);
+        foreach (var obj in objectStack)
+        {
+            Vector3 targetPos = obj.position + Vector3.up * stackSpacingY;
+            StartCoroutine(MoveToPosition(obj, targetPos, shiftDuration));
+        }
+        yield return new WaitForSeconds(shiftDuration);
+
+        if (currentObject == null) currentObject = PeekTop();
+        else nextTop = PeekTop();
+    }
+
+    IEnumerator MoveToPosition(Transform obj, Vector3 target, float duration)
+    {
+        if (obj == null) yield break;
+        Vector3 start = obj.position;
+        float elapsed = 0f;
+
+        while (elapsed < duration)
+        {
+            elapsed += Time.deltaTime;
+            float t = Mathf.Clamp01(elapsed / duration);
+            obj.position = Vector3.Lerp(start, target, t);
+            yield return null;
+        }
+        obj.position = target;
+    }
+
+    // ========== MAIN FLOW ==========
+    public IEnumerator RunStepsExternal()
+    {
+        BuildSteps();
+
+        foreach (var step in steps)
+        {
+            switch (step.Type)
+            {
+                case StepType.Move:
+                    if (step.Path != null) yield return DoMove(step.Path);
+                    break;
+
+                case StepType.MoveJoints:
+                    yield return StartCoroutine(DoMoveToJoints(step.JointAngles, step.MoveDuration));
+                    break;
+
+                case StepType.Pick:
+                    yield return pickDrop.PlayPick(this);
+                    break;
+
+                case StepType.Drop:
+                    yield return pickDrop.PlayDrop(this);
+                    break;
+
+                case StepType.Attach:
+                    if (currentObject == null)
+                    {
+                        currentObject = PopTop();
+                        if (currentObject == null) break;
+                    }
+                    pickDrop.AttachObjToAmr(endEffector, currentObject);
+                    if (objectStack.Count > 0) StartCoroutine(ShiftStackUpAfterDelay());
+                    break;
+
+                case StepType.Detach:
+                    pickDrop.DetachObj(currentObject);
+                    if (currentObject != null) currentObject.rotation = Quaternion.identity;
+                    break;
+
+                case StepType.Action:
+                case StepType.CustomAction:
+                    step.Action?.Invoke();
+                    break;
+
+                case StepType.Delay:
+                    yield return new WaitForSeconds(step.Delay);
+                    break;
+            }
+        }
+        OnCompleted?.Invoke();
+    }
+
+    void BuildSteps()
+    {
+        steps = new List<Step>();
+
+        float[] homeAngles = GetHomeJointAngles();
+
+        Frame t1 = new(target1.position, target1.rotation);
+        Frame t2 = new(target2.position, target2.rotation);
+        Frame lift1 = LiftFrame(t1, liftHeight);
+        Frame lift2 = LiftFrame(t2, liftHeight);
+
+        // Về home = dùng MoveJoints
+        steps.Add(new Step(StepType.MoveJoints, jointAngles: homeAngles));
+
+        // Pick từ target1
+        steps.Add(new Step(StepType.Move, planner.GeneratePath(new Frame(endEffector.position, endEffector.rotation), lift1, stepsPerMove).ToArray()));
+        steps.Add(new Step(StepType.Move, planner.GeneratePath(lift1, t1, stepsPerMove).ToArray()));
+        steps.Add(new Step(StepType.Attach));
+        steps.Add(new Step(StepType.Move, planner.RepeatFrame(t1, HoldFrames)));
+        steps.Add(new Step(StepType.Move, planner.GeneratePath(t1, lift1, stepsPerMove).ToArray()));
+        steps.Add(new Step(StepType.MoveJoints, jointAngles: homeAngles) { MoveDuration = 1f });
+
+        // Place tại target2
+        steps.Add(new Step(StepType.Move, planner.GeneratePath(new Frame(endEffector.position, endEffector.rotation), lift2, stepsPerMove).ToArray()));
+        steps.Add(new Step(StepType.Move, planner.GeneratePath(lift2, t2, stepsPerMove).ToArray()));
+        steps.Add(new Step(StepType.Detach));
+        steps.Add(new Step(StepType.Move, planner.RepeatFrame(t2, HoldFrames)));
+
+        // Animate rơi tự do (rơi xuống target3)
+        steps.Add(new Step(StepType.CustomAction, action: () => { StartCoroutine(MoveObject(target2, target3, 0.2f)); }) { MoveDuration = 0.75f });
+
+        // Quay về home
+        steps.Add(new Step(StepType.Move, planner.GeneratePath(t2, lift2, stepsPerMove).ToArray()));
+        steps.Add(new Step(StepType.MoveJoints, jointAngles: homeAngles) { MoveDuration = 1f });
+    }
+
+    // ========== MOTION ==========
+    IEnumerator DoMove(Frame[] path)
+    {
+        foreach (var f in path)
+        {
+            float[] solved = solver.SolveIK(f);
+            for (int i = 0; i < joints.Length && i < solved.Length; i++)
+            {
+                float a = Mathf.Lerp(lastAngles[i], solved[i], applyAlpha);
+                lastAngles[i] = a;
+                joints[i].SetValue(a);
+            }
+            yield return new WaitForSeconds(stepDelay);
+        }
+    }
+
+    IEnumerator DoMoveToJoints(float[] targetAngles, float duration = 0.75f)
+    {
+        if (targetAngles == null) yield break;
+
+        int frames = stepsPerMove;
+        if (duration > 0f) // nếu truyền duration, thì tính lại StepDelay
+            stepDelay = duration / frames;
+
+        float[] startAngles = new float[joints.Length];
+        for (int i = 0; i < joints.Length; i++) startAngles[i] = joints[i].GetValue();
+
+        for (int f = 0; f < frames; f++)
+        {
+            float t = (float)f / (frames - 1);
+            for (int j = 0; j < joints.Length; j++)
+            {
+                float angle = Mathf.Lerp(startAngles[j], targetAngles[j], t);
+                joints[j].SetValue(angle);
+                lastAngles[j] = angle;
+            }
+            yield return new WaitForSeconds(stepDelay);
+        }
+    }
+    float[] GetHomeJointAngles()
+    {
+        float[] home = new float[joints.Length];
+        for (int i = 0; i < joints.Length; i++) home[i] = joints[i].GetValue();
+        return home;
+    }
+
+    Frame LiftFrame(Frame f, float lift)
+    {
+        return new Frame(new Vector3(f.Position.x, f.Position.y + lift, f.Position.z), f.Rotation);
+    }
+
+    // ========== DROP ANIMATION ==========
+    public IEnumerator MoveObject(Transform from, Transform to, float duration)
+    {
+        if (currentObject == null) yield break;
+
+        from.GetPositionAndRotation(out Vector3 startPos, out Quaternion startRot);
+        float elapsed = 0f;
+
+        while (elapsed < duration)
+        {
+            elapsed += Time.deltaTime;
+            float t = Mathf.Clamp01(elapsed / duration);
+            currentObject.SetPositionAndRotation(
+                Vector3.Lerp(startPos, to.position, t),
+                Quaternion.Slerp(startRot, to.rotation, t)
+            );
+            yield return null;
+        }
+
+        // Sau khi thả xong tại target3
+        LastStackObject = currentObject;
+        // thông tin góc lastStackObject Rotation = Quaternion.identity;
+        currentObject = null;
+    }
+}

Assets/dobot/Sc/RobotController.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 41375b751e0596646809ddac3f41adac

Assets/dobot/Sc/RobotJoint.cs

@@ -0,0 +1,49 @@
+using UnityEngine;
+
+[System.Serializable]
+public class RobotJoint
+{
+    public Transform JointTransform;
+
+    public enum RotationAxis { X, Y, Z }
+    public RotationAxis Axis = RotationAxis.Y;
+
+    public float MinLimit = -180f;
+    public float MaxLimit = 180f;
+
+    [HideInInspector] public float CurrentValue = 0f; // degrees
+
+    // Lưu offset ban đầu
+    private Quaternion baseRotation;
+
+    public void Init()
+    {
+        if (JointTransform != null)
+            baseRotation = JointTransform.localRotation;
+        else
+            Debug.LogWarning("JointTransform is not assigned in RobotJoint!");
+    }
+
+    public void SetValue(float angleDeg)
+    {
+        if (JointTransform == null) return;
+
+        CurrentValue = Mathf.Clamp(angleDeg, MinLimit, MaxLimit);
+
+        Vector3 axisVector = Vector3.zero;
+        switch (Axis)
+        {
+            case RotationAxis.X: axisVector = Vector3.right; break;
+            case RotationAxis.Y: axisVector = Vector3.up; break;
+            case RotationAxis.Z: axisVector = Vector3.forward; break;
+        }
+
+        // rotation = baseRotation * xoay quanh trục
+        JointTransform.localRotation = baseRotation * Quaternion.AngleAxis(CurrentValue, axisVector);
+    }
+
+    public float GetValue()
+    {
+        return CurrentValue;
+    }
+}

Assets/dobot/Sc/RobotJoint.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: da2181db2848d184baf7a6958cf097ff

Assets/dobot/Sc/RobotManager.cs

@@ -0,0 +1,44 @@
+using System.Collections;
+using UnityEngine;
+
+public class RobotManager : MonoBehaviour
+{
+    public RobotController abb;
+    public Robot2Controller yas;
+
+    void Start()
+    {
+        StartCoroutine(AbbLoop());
+        StartCoroutine(YasLoop());
+    }
+    bool IsAtTarget3()
+    {
+        return yas.HasPhoiAtTarget3();
+    }
+    IEnumerator AbbLoop()
+    {
+
+        for (int i = 0; i < abb.stackCount; i++)
+        {
+            yield return new WaitUntil(() => !IsAtTarget3());
+            yield return StartCoroutine(abb.RunStepsExternal());
+
+            // ✅ Sau khi ABB đặt phôi, đưa phôi vào queue của YAS
+            yas.EnqueuePhoi(abb.LastStackObject);
+        }
+        Debug.Log("ABB hoàn thành tất cả vòng");
+    }
+
+    IEnumerator YasLoop()
+    {
+
+        for (int i = 0; i < abb.stackCount; i++)
+        {
+            // Đợi tới khi có phôi ở target3
+            yield return new WaitUntil(() => IsAtTarget3());
+            yield return StartCoroutine(yas.RunStepsExternal());
+        }
+
+        Debug.Log("YAS hoàn thành tất cả vòng");
+    }
+}

Assets/dobot/Sc/RobotManager.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 3aab6c4444590a34aac534f274340fd0

Assets/dobot/Sc/SolverCCD.cs

@@ -0,0 +1,125 @@
+using UnityEngine;
+
+public class SolverCCD
+{
+    public RobotJoint[] Joints;
+    public Transform EndEffector;
+
+    public int MaxIterations = 40;
+    public float PositionTolerance = 0.001f;
+    public float OrientationToleranceDeg = 3f;
+
+    public float MaxStepDegrees = 2f;
+    public float WristMaxStepDegrees = 1f;
+    [Range(0f, 1f)]
+    public float SmoothFactor = 0.5f;
+    public float ProjectionEpsilon = 1e-6f;
+
+    public SolverCCD(RobotJoint[] joints, Transform endEffector)
+    {
+        Joints = joints;
+        EndEffector = endEffector;
+    }
+
+    public float[] SolveIK(Frame target)
+    {
+        int n = Joints != null ? Joints.Length : 0;
+        float[] result = new float[n];
+
+        if (Joints == null || n == 0 || EndEffector == null)
+            return result;
+
+        for (int iter = 0; iter < MaxIterations; iter++)
+        {
+            float posErr = Vector3.Distance(EndEffector.position, target.Position);
+            if (posErr <= PositionTolerance) break;
+
+            for (int i = n - 1; i >= 0; i--)
+            {
+                Transform jointT = Joints[i].JointTransform;
+                Vector3 toEnd = EndEffector.position - jointT.position;
+                Vector3 toTarget = target.Position - jointT.position;
+
+                if (toEnd.sqrMagnitude < 1e-12f || toTarget.sqrMagnitude < 1e-12f) continue;
+
+                Vector3 axisWorld = GetJointAxisWorld(Joints[i], jointT);
+                float angle = SignedAngleBetweenVectorsProjected(toEnd, toTarget, axisWorld, ProjectionEpsilon);
+
+                float maxStep = (i >= n - 3) ? WristMaxStepDegrees : MaxStepDegrees;
+                float delta = Mathf.Clamp(angle, -maxStep, maxStep);
+
+                float current = Joints[i].GetValue();
+                float intended = current + delta;
+                float newAngle = Mathf.Lerp(current, intended, SmoothFactor);
+                newAngle = Mathf.Clamp(newAngle, Joints[i].MinLimit, Joints[i].MaxLimit);
+
+                Joints[i].SetValue(newAngle);
+            }
+        }
+
+        AlignOrientation(target);
+
+        for (int i = 0; i < n; i++) result[i] = Joints[i].GetValue();
+        return result;
+    }
+
+    void AlignOrientation(Frame target)
+    {
+        int n = Joints.Length;
+        if (n == 0) return;
+
+        float angError = Quaternion.Angle(EndEffector.rotation, target.Rotation);
+        if (angError <= OrientationToleranceDeg) return;
+
+        int start = Mathf.Max(0, n - 3);
+
+        for (int iter = 0; iter < 12; iter++)
+        {
+            for (int i = n - 1; i >= start; i--)
+            {
+                Transform jointT = Joints[i].JointTransform;
+                Vector3 axisWorld = GetJointAxisWorld(Joints[i], jointT);
+
+                Quaternion fromTo = target.Rotation * Quaternion.Inverse(EndEffector.rotation);
+                fromTo.ToAngleAxis(out float angleDeg, out Vector3 axis);
+                if (angleDeg > 180f) angleDeg -= 360f;
+                if (float.IsNaN(angleDeg) || Mathf.Abs(angleDeg) < 1e-4f) continue;
+
+                float sign = Mathf.Sign(Vector3.Dot(axis, axisWorld));
+                float step = Mathf.Clamp(angleDeg * sign, -5f, 5f);
+
+                float maxStep = WristMaxStepDegrees;
+                float delta = Mathf.Clamp(step, -maxStep, maxStep);
+
+                float current = Joints[i].GetValue();
+                float intended = current + delta;
+                float newAngle = Mathf.Lerp(current, intended, SmoothFactor);
+                newAngle = Mathf.Clamp(newAngle, Joints[i].MinLimit, Joints[i].MaxLimit);
+
+                Joints[i].SetValue(newAngle);
+            }
+
+            if (Quaternion.Angle(EndEffector.rotation, target.Rotation) <= OrientationToleranceDeg) break;
+        }
+    }
+
+    Vector3 GetJointAxisWorld(RobotJoint joint, Transform jointT)
+    {
+        switch (joint.Axis)
+        {
+            case RobotJoint.RotationAxis.X: return jointT.right;
+            case RobotJoint.RotationAxis.Y: return jointT.up;
+            case RobotJoint.RotationAxis.Z: return jointT.forward;
+        }
+        return jointT.up;
+    }
+
+    static float SignedAngleBetweenVectorsProjected(Vector3 v1, Vector3 v2, Vector3 axis, float eps)
+    {
+        Vector3 p1 = Vector3.ProjectOnPlane(v1, axis);
+        Vector3 p2 = Vector3.ProjectOnPlane(v2, axis);
+
+        if (p1.sqrMagnitude < eps || p2.sqrMagnitude < eps) return 0f;
+        return Vector3.SignedAngle(p1, p2, axis.normalized);
+    }
+}

Assets/dobot/Sc/SolverCCD.cs.meta

@@ -0,0 +1,2 @@
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+guid: 1bbde1abab7e62644ad2b4c0f95a99e9

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