feat: bimanual piper implementation

[SuveenE]

What this does

Adds support for data recording for bimanual piper implementation. Unlike other robot arms, Agilex Piper supports direct teleoperation from leader and follower arms by connecting them to the same CAN bus. Therefore, the logic for teleoperation or using policy is not relevant for Piper.

This lets users connect two piper arms with another two arms while recording the data in LeRobot format.

How it was tested

Tested with 4 Piper Arms (2 leaders, 2 followers) and verified the data format on Huggingface LeRobot Data visualizer.

How to checkout & try? (for the reviewer)

Connect two piper arms pairs and run the following command.

python -m lerobot.record \
        --robot.type=bi_piper \
        --robot.left_arm_can_port=can_0 \
        --robot.right_arm_can_port=can_1 \
        --robot.id=arm \
        --robot.cameras="{front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, right: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}, top: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}, left: {type: opencv, index_or_path: 3, width: 640, height: 480, fps: 30}}" \
        --dataset.repo_id=your_username/bimanual-piper-dataset \
        --dataset.num_episodes=10 \
        --dataset.single_task="Pick and place task" \
        --dataset.episode_time_s=30 \
        --dataset.reset_time_s=10