feat(hil): add bi_so_follower and bi_so_leader support for HIL data collection

[wy-zong]

Type / Scope

• Type: Feature
• Scope: examples/hil

Summary / Motivation

The HIL data collection script (examples/hil/hil_data_collection.py) currently only registers a limited set of robot and
teleoperator types. Bimanual SO-ARM100 users (bi_so_follower / bi_so_leader) cannot use the HIL workflow because the
corresponding config classes are not imported, causing draccus to reject the --robot.type=bi_so_follower argument.

This PR adds the missing imports so that bi_so_follower and bi_so_leader are registered as valid choices.

Related issues

• None

What changed

• Added BiSOFollowerConfig import in examples/hil/hil_data_collection.py (registers bi_so_follower robot type)
• Added BiSOLeaderConfig import in examples/hil/hil_data_collection.py (registers bi_so_leader teleoperator type)

How was this tested (or how to run locally)

• Verified that --robot.type=bi_so_follower is accepted by draccus argument parser after the change.
  • Tested with bimanual SO-ARM100 hardware (SO-101) using the following command:

python /hil_data_collection.py --robot.type=bi_so_follower
--robot.left_arm_config.port=COM5 --robot.right_arm_config.port=COM8
--robot.id=bimanual_follower --teleop.type=bi_so_leader
--teleop.left_arm_config.port=COM4 --teleop.right_arm_config.port=COM9
--teleop.id=bimanual_leader --robot.left_arm_config.cameras='{"camera1": {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30}, "camera3": {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30}}'
--robot.right_arm_config.cameras='{"camera2": {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30}}' --policy.path=wuc1/bi_so101_flatten-and-fold-the-rag-0401-model
--dataset.repo_id=local/hil-rtc-dataset-PR --dataset.single_task="flatten and fold the rag"
--dataset.fps=30 --dataset.episode_time_s=1000
--dataset.num_episodes=50 --dataset.rename_map='{"observation.images.left_camera1": "observation.images.camera1", "observation.images.left_camera3": "observation.images.camera3", "observation.images.right_camera2": "observation.images.camera2"}'
--interpolation_multiplier=3 `
--dataset.push_to_hub=false

Checklist (required before merge)

• Linting/formatting run (pre-commit run -a)
• All tests pass locally (pytest)
• Documentation updated
• CI is green

Reviewer notes

• Minimal two-line change — only adds imports to register existing config classes with draccus.
• No new dependencies or breaking changes.