fix mypy issues

airo_drake/building/mobile_platform.py

@@ -16,7 +16,7 @@
 
 def add_mobile_platform(
     robot_diagram_builder: RobotDiagramBuilder,
-    drive_positions: Tuple[Vector2DType] = (
+    drive_positions: Tuple[Vector2DType, Vector2DType, Vector2DType, Vector2DType] = (
         np.array([1, -0.5]),
         np.array([1, 0.5]),
         np.array([-1, -0.5]),
@@ -62,7 +62,7 @@ def add_mobile_platform(
     mobi_urdf_path = airo_models.get_urdf_path("kelo_robile")
 
     drive_transforms = [
-        RigidTransform(p=[brick_size * p[0], brick_size * p[1], 0], rpy=RollPitchYaw([0, 0, 0]))
+        RigidTransform(p=[brick_size * p[0], brick_size * p[1], 0], rpy=RollPitchYaw([0, 0, 0]))  # type: ignore
         for p in drive_positions
     ]
 
@@ -80,15 +80,15 @@ def add_mobile_platform(
         mobi_part_indices.append(brick_index)
 
     battery_transform = RigidTransform(
-        p=[brick_size * battery_position[0], brick_size * battery_position[1], 0], rpy=RollPitchYaw([0, 0, 0])
+        p=[brick_size * battery_position[0], brick_size * battery_position[1], 0], rpy=RollPitchYaw([0, 0, 0])  # type: ignore
     )
     battery_index = parser.AddModels(airo_models.get_urdf_path("kelo_robile_battery"))[0]
     battery_frame = plant.GetFrameByName("base_link", battery_index)
     plant.WeldFrames(robot_root_frame, battery_frame, battery_transform)
     mobi_part_indices.append(battery_index)
 
     cpu_transform = RigidTransform(
-        p=[brick_size * cpu_position[0], brick_size * cpu_position[1], 0], rpy=RollPitchYaw([0, 0, 0])
+        p=[brick_size * cpu_position[0], brick_size * cpu_position[1], 0], rpy=RollPitchYaw([0, 0, 0])  # type: ignore
     )
     cpu_index = parser.AddModels(airo_models.get_urdf_path("kelo_robile_cpu"))[0]
     cpu_frame = plant.GetFrameByName("base_link", cpu_index)
@@ -100,8 +100,8 @@ def add_mobile_platform(
     side_height_half = 0.5 * side_height
     side_length_half = 0.5 * side_length
     side_transforms = [
-        RigidTransform(p=[front_brick_position - side_length_half, -brick_size, side_height_half]),
-        RigidTransform(p=[front_brick_position - side_length_half, brick_size, side_height_half]),
+        RigidTransform(p=[front_brick_position - side_length_half, -brick_size, side_height_half]),  # type: ignore
+        RigidTransform(p=[front_brick_position - side_length_half, brick_size, side_height_half]),  # type: ignore
     ]
 
     for side_transform in side_transforms:
@@ -114,7 +114,7 @@ def add_mobile_platform(
     roof_length = side_length
     roof_length_half = 0.5 * roof_length
     roof_thickness_half = 0.5 * roof_thickness
-    roof_transform = RigidTransform(p=[front_brick_position - roof_length_half, 0, side_height + roof_thickness_half])
+    roof_transform = RigidTransform(p=[front_brick_position - roof_length_half, 0, side_height + roof_thickness_half])  # type: ignore
 
     roof_urdf_path = airo_models.box_urdf_path([roof_length, roof_width, 0.03], "roof")
     roof_index = parser.AddModels(roof_urdf_path)[0]
@@ -127,7 +127,7 @@ def add_mobile_platform(
 
 def attach_mobile_platform_to_world(
     robot_diagram_builder: RobotDiagramBuilder, mobi_model_index: ModelInstanceIndex, static_platform: bool
-):
+) -> None:
     """Attach the mobile platform to the world frame with a planar joint. This allows the mobile platform to
     move around by setting the (x, y, theta) values of the joint.
 

airo_drake/time_parametrization/toppra.py

@@ -50,9 +50,9 @@ def time_parametrize_toppra_mobile_platform(
     if time_parametrization is None:
         raise ValueError("TOPP-RA failed to find a valid time parametrization.")
 
-    pose_trajectory = PathParameterizedTrajectory(pose_trajectory, time_parametrization)
+    pose_trajectory_ = PathParameterizedTrajectory(pose_trajectory, time_parametrization)
 
-    return pose_trajectory
+    return pose_trajectory_
 
 
 def time_parametrize_toppra(