feat(robot): mirror new configs from SO10X to its Bi manual counterpart (#4238)

src/lerobot/robots/bi_so_follower/bi_so_follower.py

@@ -62,6 +62,7 @@ class BiSOFollower(BimanualMixin, Robot):
             position_i_coefficient=config.left_arm_config.position_i_coefficient,
             position_d_coefficient=config.left_arm_config.position_d_coefficient,
             use_degrees=config.left_arm_config.use_degrees,
+            num_read_retries=config.left_arm_config.num_read_retries,
             cameras=left_arm_cameras,
         )
 
@@ -75,6 +76,7 @@ class BiSOFollower(BimanualMixin, Robot):
             position_i_coefficient=config.right_arm_config.position_i_coefficient,
             position_d_coefficient=config.right_arm_config.position_d_coefficient,
             use_degrees=config.right_arm_config.use_degrees,
+            num_read_retries=config.right_arm_config.num_read_retries,
             cameras=config.right_arm_config.cameras,
         )
 

src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py

@@ -44,12 +44,16 @@ class BiSOLeader(BimanualMixin, Teleoperator):
             id=f"{config.id}_left" if config.id else None,
             calibration_dir=config.calibration_dir,
             port=config.left_arm_config.port,
+            use_degrees=config.left_arm_config.use_degrees,
+            num_read_retries=config.left_arm_config.num_read_retries,
         )
 
         right_arm_config = SOLeaderTeleopConfig(
             id=f"{config.id}_right" if config.id else None,
             calibration_dir=config.calibration_dir,
             port=config.right_arm_config.port,
+            use_degrees=config.right_arm_config.use_degrees,
+            num_read_retries=config.right_arm_config.num_read_retries,
         )
 
         self.left_arm = SOLeader(left_arm_config)