更新

Assets/Scripts/Components/AGV/AGVDemoV2.cs

@@ -17,17 +17,40 @@ public class AGVDemoV2 : MonoBehaviour
     public ReportErrorsUI ReportErrorsUI;
 
     public List<string> IsHasError;
+    public Animator animator;
 
     private void Start()
     {
         IsHasError = new List<string>();
         StartCoroutine(UpdatePosition());
         StartCoroutine(UpdateErrorReporting());
+
+        // 递归查找名字为"机械臂"的子物体
+        Transform mechanicalArm = FindChildRecursive(AGVManager._getOrCreateAGV(AGVName).transform, "机械臂");
+
+        if (mechanicalArm != null)
+        {
+            animator = mechanicalArm.gameObject.GetComponent<Animator>();
+        }
+        else
+        {
+            Debug.Log("未找到名为'机械臂'的子物体");
+        }
+    }
+
+    private void Update()
+    {
+        // 根据需要设置playbackValue
+        AnimatorStateInfo stateInfo = animator.GetCurrentAnimatorStateInfo(0);
+        if (stateInfo.IsName("Base Layer.Run"))
+        {  //获取 Base Layer 动画节点下的名为 Run 的 State
+            animator.SetFloat("Playback", manager.position.z * 10/7);         //设置 Blend 参数
+        }
     }
 
     private void UpdatePosition1()
     {
-        AGVManager.AddMoveMsg(AGVName, manager.position, manager.angle);
+        AGVManager.AddMoveMsg(AGVName, new Vector3(manager.position.x,manager.position.y,0), manager.angle);
     }
 
 
@@ -89,4 +112,33 @@ public class AGVDemoV2 : MonoBehaviour
             IsHasError.Remove(faultDataName);
         }
     }
+
+    /// <summary>
+    /// 查找子物体
+    /// </summary>
+    /// <param name="parent"></param>
+    /// <param name="childName"></param>
+    /// <returns></returns>
+    Transform FindChildRecursive(Transform parent, string childName)
+    {
+        // 遍历当前父物体的所有直接子物体
+        foreach (Transform child in parent)
+        {
+            // 如果找到名字匹配的子物体，返回该子物体
+            if (child.name == childName)
+            {
+                return child;
+            }
+
+            // 如果当前子物体本身还有子物体，则递归查找
+            Transform result = FindChildRecursive(child, childName);
+            if (result != null)
+            {
+                return result; // 如果在递归中找到目标物体，则返回
+            }
+        }
+
+        // 如果未找到，返回 null
+        return null;
+    }
 }

Assets/Scripts/Components/AGV/LoginManager.cs

@@ -62,7 +62,7 @@ public class LoginManager : MonoBehaviour
         {
             RobotPositionData robotPositionData = (RobotPositionData)data;
             position = new Vector3(robotPositionData.data.x, robotPositionData.data.y, robotPositionData.data.h);
-            angle = robotPositionData.data.angle * Mathf.Rad2Deg;
+            angle = -robotPositionData.data.angle * Mathf.Rad2Deg;
         }
 
         if (data.GetType().Equals(typeof(FaultEventData)))

Assets/Scripts/Components/UI/SensorDataManger.cs

@@ -36,10 +36,10 @@ public class SensorDataManger : MonoBehaviour
     void Start()
     {
         //编辑模式下使用，创建UI
-        //foreach (GameObject item in model1)
-        //{
-        //    Create3dUI(item, _parent1);
-        //}
+        foreach (GameObject item in model1)
+        {
+            Create3dUI(item, _parent1);
+        }
 
         //foreach (GameObject item in model2)
         //{

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@@ -269,7 +269,7 @@ Transform:
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@@ -1965,6 +1965,38 @@ MeshRenderer:
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Assets/_预设/设备/AGV1.prefab

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