Fully added gripper, distance, IMU, and display modules

Assets/GripperModule.cs

@@ -0,0 +1,87 @@
+using UnityEngine;
+
+public class GripperModule : ServoMotorModule
+{
+    [Header("Pincer Pivots")]
+    public Transform leftPincerPivot;
+    public Transform rightPincerPivot;
+
+    [Header("Gripper Settings")]
+    [Tooltip("Max separation between pincers (meters). 0.04 = 4 cm")]
+    public float maxPincerDistance = 0.02f;
+
+    public override string servoType => "Gripper";
+
+    // Cache the original local positions so we don't stomp Y/Z (or any authored offsets).
+    private Vector3 _leftStartLocalPos;
+    private Vector3 _rightStartLocalPos;
+    private Transform _cachedLeft;
+    private Transform _cachedRight;
+    private bool _hasCached;
+
+    private void CacheStartPositionsIfNeeded()
+    {
+        // Re-cache if pivots changed, or we haven't cached yet.
+        if (!_hasCached || _cachedLeft != leftPincerPivot || _cachedRight != rightPincerPivot)
+        {
+            if (leftPincerPivot != null)
+                _leftStartLocalPos = leftPincerPivot.localPosition;
+
+            if (rightPincerPivot != null)
+                _rightStartLocalPos = rightPincerPivot.localPosition;
+
+            _cachedLeft = leftPincerPivot;
+            _cachedRight = rightPincerPivot;
+            _hasCached = true;
+        }
+    }
+
+    public override void MoveArmPivot(float currentAngle)
+    {
+        CacheStartPositionsIfNeeded();
+
+        // Map angle 0..180 to 0..1
+        float normalized = Mathf.InverseLerp(0f, 180f, currentAngle);
+
+        // We move each pincer half the total distance, in opposite directions.
+        float halfDistance = normalized * (maxPincerDistance * 0.5f);
+
+        if (leftPincerPivot != null)
+        {
+            Vector3 target = _leftStartLocalPos;
+            target.x += -halfDistance;   // only change local X
+            leftPincerPivot.localPosition = target;
+        }
+
+        if (rightPincerPivot != null)
+        {
+            Vector3 target = _rightStartLocalPos;
+            target.x += halfDistance;    // only change local X
+            rightPincerPivot.localPosition = target;
+        }
+    }
+
+    public override void SetAngle(float angle)
+    {
+        currentAngle = Mathf.Clamp(angle, 0f, 180f);
+        MoveArmPivot(currentAngle);
+    }
+
+    public override void InitialSetAngle(float angle)
+    {
+        currentAngle = Mathf.Clamp(angle, 0f, 180f);
+        lastSentAngle = currentAngle;
+
+        // Ensure we cache before first move so we preserve the authored offsets.
+        CacheStartPositionsIfNeeded();
+        MoveArmPivot(currentAngle);
+    }
+
+#if UNITY_EDITOR
+    // Optional but handy: if you tweak pivots/positions in the editor, this helps keep cache accurate.
+    private void OnValidate()
+    {
+        _hasCached = false;
+    }
+#endif
+}