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/common/envs/configs.py

@@ -203,6 +203,9 @@ class EnvWrapperConfig:
     joint_masking_action_space: Optional[Any] = None
     ee_action_space_params: Optional[EEActionSpaceConfig] = None
     use_gripper: bool = False
+    gripper_quantization_threshold: float = 0.8
+    gripper_penalty: float = 0.0
+    open_gripper_on_reset: bool = False
 
 
 @EnvConfig.register_subclass(name="gym_manipulator")