Feat: Add Bimanual Koch support

[Gongsta]

What this does

This pull request introduces support for bimanual (dual-arm) Koch robots and teleoperators for ease of use. Mostly duplicates logic from bi_so100_leader.py and bi_so100_follower.py. Addresses #1790

How it was tested

Ran this on my bimanual koch setup:

python -m lerobot.teleoperate \
    --robot.type=bi_koch_follower \
    --robot.left_arm_port=/dev/tty.usbmodem114201 \
    --robot.right_arm_port=/dev/tty.usbmodem11301 \
    --robot.id=bimanual_follower \
    --teleop.type=bi_koch_leader \
    --teleop.left_arm_port=/dev/tty.usbmodem11201 \
    --teleop.right_arm_port=/dev/tty.usbmodem11101 \
    --teleop.id=bimanual_leader \
    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
    --display_data=true

[Copilot]

Pull Request Overview

This PR introduces support for bimanual (dual-arm) Koch robots by implementing bimanual teleoperator and follower components. The implementation follows the established pattern from the existing bimanual SO100 components.

• Adds BiKochLeader teleoperator that combines two KochLeader instances with prefixed action keys
• Adds BiKochFollower robot that combines two KochFollower instances sharing cameras
• Updates import statements and factory functions to register the new bimanual Koch components

Reviewed Changes

Copilot reviewed 13 out of 13 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
src/lerobot/teleoperators/utils.py	Adds factory registration for bi_koch_leader
src/lerobot/teleoperators/bi_koch_leader/config_bi_koch_leader.py	Configuration class for bimanual Koch leader with left/right arm ports
src/lerobot/teleoperators/bi_koch_leader/bi_koch_leader.py	Main implementation of bimanual Koch teleoperator
src/lerobot/teleoperators/bi_koch_leader/__init__.py	Module exports for bimanual Koch leader
src/lerobot/teleoperate.py	Adds import for bi_koch_leader module and reformats function signature
src/lerobot/robots/utils.py	Adds factory registration for bi_koch_follower
src/lerobot/robots/koch_follower/koch_follower.py	Code formatting improvements (line breaks)
src/lerobot/robots/bi_koch_follower/config_bi_koch_follower.py	Configuration class for bimanual Koch follower with per-arm settings
src/lerobot/robots/bi_koch_follower/bi_koch_follower.py	Main implementation of bimanual Koch robot
src/lerobot/robots/bi_koch_follower/__init__.py	Module exports for bimanual Koch follower
src/lerobot/replay.py	Adds import for bi_koch_follower module
src/lerobot/record.py	Adds imports for both bimanual Koch modules
src/lerobot/calibrate.py	Adds imports for bimanual Koch and SO100 modules

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[Gongsta]

Not getting reviewed, and I'm adding other changes for my own development on this branch, so closing it.