fix(processor): phone examples (#1921)

* fix(processor): phone examples

* chore(processor): simplify gripper in phone example kinematic chain

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>

examples/phone_to_so100/record.py

@@ -89,6 +89,7 @@ phone_to_robot_ee_pose_processor = RobotProcessorPipeline[RobotAction, EnvTransi
             max_ee_step_m=0.20,
             max_ee_twist_step_rad=0.50,
         ),
+        GripperVelocityToJoint(),
     ],
     to_transition=robot_action_to_transition,
     to_output=identity_transition,
@@ -102,10 +103,6 @@ robot_ee_to_joints_processor = RobotProcessorPipeline[EnvTransition, RobotAction
             motor_names=list(robot.bus.motors.keys()),
             initial_guess_current_joints=True,
         ),
-        GripperVelocityToJoint(
-            motor_names=list(robot.bus.motors.keys()),
-            speed_factor=20.0,
-        ),
     ],
     to_transition=identity_transition,
     to_output=transition_to_robot_action,
@@ -127,13 +124,6 @@ action_ee = aggregate_pipeline_dataset_features(
     use_videos=True,
 )
 
-# Get gripper pos action features
-gripper = aggregate_pipeline_dataset_features(
-    pipeline=robot_ee_to_joints_processor,
-    initial_features=create_initial_features(action=robot.action_features, observation={}),
-    use_videos=True,
-)
-
 # Build dataset ee observation features
 observation_ee = aggregate_pipeline_dataset_features(
     pipeline=robot_joints_to_ee_pose,
@@ -141,7 +131,7 @@ observation_ee = aggregate_pipeline_dataset_features(
     use_videos=True,
 )
 
-dataset_features = combine_feature_dicts(action_ee, gripper, observation_ee)
+dataset_features = combine_feature_dicts(action_ee, observation_ee)
 
 print("All dataset features: ", dataset_features)