Added Gripper quantization wrapper and grasp penalty

removed complementary info from buffer and learner server
removed get_gripper_action function
added gripper parameters to `common/envs/configs.py`

lerobot/scripts/server/end_effector_control_utils.py

@@ -312,31 +312,6 @@ class GamepadController(InputController):
             logging.error("Error reading gamepad. Is it still connected?")
             return 0.0, 0.0, 0.0
 
-    def get_gripper_action(self):
-        """
-        Get gripper action using L3/R3 buttons.
-        Press left stick (L3) to open the gripper.
-        Press right stick (R3) to close the gripper.
-        """
-        import pygame
-
-        try:
-            # Check if buttons are pressed
-            l3_pressed = self.joystick.get_button(9)
-            r3_pressed = self.joystick.get_button(10)
-
-            # Determine action based on button presses
-            if r3_pressed:
-                return 1.0  # Close gripper
-            elif l3_pressed:
-                return -1.0  # Open gripper
-            else:
-                return 0.0  # No change
-
-        except pygame.error:
-            logging.error("Error reading gamepad. Is it still connected?")
-            return 0.0
-
 
 class GamepadControllerHID(InputController):
     """Generate motion deltas from gamepad input using HIDAPI."""