Add runtime and static type checks

[Flova]

Summary

Many of our typehints are wrong. This adds beartype based type checks during runtime and static mypy checks to prevent this.

Proposed changes

• Add beartype
• Fix errors
• Fit unrelated crash in animation ui that made testing hard.
• Add mypy base tests

This adds some risk, as it might lead to a less frequently visited code part with a minor type error crashing our codebase during a game. We could downgrade the errors to warnings, but then they might not be noticed/ignored. We could also deactivate them during real games, but we do not have a mechanic to check for this yet.

We need to test this on the real robot before merging it!

Checklist

• Run colcon build
• Write documentation
• Test on your machine
• Test on the robot
• Create issues for future work
• Triage this PR and label it