Feat/add hans s30 robot

[shijixiang0114]

Title

feat(robots): add Hans Robot S30 6-DoF industrial arm adapter

Type / Scope

• Type: Feature
• Scope: robots, examples

Summary / Motivation

Adds a LeRobot adapter for the Hans Robot S30, a 6-DoF industrial
manipulator widely used in Chinese manufacturing and research labs.
The S30 communicates over TCP/IP using the vendor's proprietary CPS
(Controller Programming System) protocol — no USB serial bus or
Dynamixel/Feetech motors are involved.

This contribution makes the S30 a first-class LeRobot citizen:
operators can collect demonstrations via zero-force teaching, replay
episodes, and run trained policies in closed-loop, all through the
standard Robot interface.

Related issues

• Related: #(none — new hardware support)

What changed

New files — robot adapter (src/lerobot/robots/hans_s30/):

• cps_client.py — minimal TCP client wrapping the Hans CPS protocol
  (HRIF_* API); includes RobotFSM enum and wait_for_fsm helper.
• config_hans_s30.py — HansS30Config / HansS30RobotConfig
  dataclasses; registered as "hans_s30".
• hans_s30.py — HansS30 class implementing the Robot interface
  (connect / disconnect / get_observation / send_action) plus
  enable_free_driver / disable_free_driver for zero-force teaching.
• __init__.py — public exports.

New files — examples (examples/hans_s30/):

• teleoperate.py, record.py, replay.py, evaluate.py — standard
  example scripts following the project's existing conventions.
• README.md — hardware prerequisites, quick-start, config reference,
  and safety notes.

New file — tests (tests/robots/test_hans_s30.py):

• Offline unit tests (mock CPSClient); no hardware required.

Modified — pyproject.toml:

• Added per-file-ignores for cps_client.py to suppress N802
  (function names must be lowercase) for HRIF_* methods, which must
  match the vendor API naming convention.

Notable implementation details:

• connect() is idempotent: reads the FSM before issuing any init
  command, skipping steps already completed by the controller (avoids
  error 20018 on warm restart).
• HRIF_MoveJ uses the WayPoint TCP command (not WayPoint2) with
  is_joint=1; velocity must be strictly less than acceleration
  (controller enforces this — error 20073 otherwise).
• enable_free_driver() explicitly catches error 20606 and raises a
  descriptive RuntimeError when the zero-force teaching licence is
  not activated on the controller.

How was this tested (or how to run locally)

Unit tests (no hardware):

pytest tests/robots/test_hans_s30.py -v

[shijixiang0114]

I have resubmitted this version using the company account.
Please refer to the submission from the company account. Thank you.

[shijixiang0114]

#3388