chore(robots): enable mypy type checking for robots module

[jameslcowan]

Fixes #1721.

Part of the broader effort to make LeRobot mypy compliant (#1719).

What changed

Enable lerobot.robots.* in the mypy overrides (pyproject.toml) and fix all 21 errors across 5 files:

• lekiwi/lekiwi_client.py: annotate zmq_context, zmq_cmd_socket, zmq_observation_socket as Any, annotate last_frames/last_remote_state/logs dicts, add return True to is_calibrated (client requires no calibration)
• lekiwi/lekiwi_host.py: change duration = 0 → 0.0 to match subsequent float reassignment
• earthrover_mini_plus/robot_earthrover_mini_plus.py: add # type: ignore[import-untyped] for requests, annotate cameras dict
• unitree_g1/unitree_g1.py: annotate sim_env/_env_wrapper as Any, subscribe_thread as Thread | None, declare kp/kd in __init__
• so_follower/robot_kinematic_processor.py: guard .copy() call behind None check to resolve union-attr error

How was this tested

mypy src/lerobot/robots/
# Success: no issues found in 45 source files

[Copilot]

Pull request overview

Enables mypy type-checking for lerobot.robots.* and resolves type errors in the robots module as part of the repo-wide mypy compliance effort (Fixes #1721, contributes to #1719).

Changes:

• Enable lerobot.robots.* mypy override in pyproject.toml.
• Add/adjust type annotations in multiple robot implementations (e.g., ZMQ sockets, camera dicts, threads, gains).
• Fix a mypy union-attribute issue in the SO follower kinematic processor by guarding a .copy() call.

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
src/lerobot/robots/unitree_g1/unitree_g1.py	Adds explicit attribute annotations for simulation env, subscriber thread, and controller gains.
src/lerobot/robots/so_follower/robot_kinematic_processor.py	Makes observation copying safe under None by splitting retrieval vs copy.
src/lerobot/robots/lekiwi/lekiwi_host.py	Adjusts duration initialization to a float for type consistency.
src/lerobot/robots/lekiwi/lekiwi_client.py	Adds Any annotations for ZMQ handles and internal dicts; makes is_calibrated return a boolean.
src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py	Adds typing for cameras and suppresses untyped import checking for requests.
pyproject.toml	Turns on mypy checking for the lerobot.robots.* module override.

Comments suppressed due to low confidence (1)

src/lerobot/robots/so_follower/robot_kinematic_processor.py:568

• q_raw is created with np.array(...) and will never be None, so the if q_raw is None: branch is unreachable. If you want to validate missing joint positions, check for an empty result (e.g., zero-sized array) or validate expected keys before building q_raw.

        q_raw = np.array(
            [float(v) for k, v in observation.items() if isinstance(k, str) and k.endswith(".pos")],
            dtype=float,
        )
        if q_raw is None:
            raise ValueError("Joints observation is require for computing robot kinematics")

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[Copilot]

The ValueError message has a grammar typo: "is require" should be "is required".

[Copilot]

This # type: ignore[import-untyped] should include a short justification (and ideally a TODO/issue link), consistent with other type: ignore usages in the repo (they typically explain why the ignore is necessary). Consider adding a note that requests lacks bundled typing here and/or adding types-requests as a dependency if feasible.

Suggested change

	import requests # type: ignore[import-untyped]
	import requests # type: ignore[import-untyped] # requests lacks bundled type hints; TODO: consider adding `types-requests`