fix: make ndarray return types explicit for CI mypy

Author: 卢杰

src/unilab/envs/locomotion/g1/joystick.py

@@ -77,7 +77,7 @@ def sample_reset_base_qvel(rng, num_samples: int, limit: float) -> np.ndarray:
 def build_upper_body_pose_weights(pose_weights: list[float]) -> np.ndarray:
     weights = np.asarray(pose_weights, dtype=get_global_dtype()).copy()
     weights[:12] = 0.0
-    return weights
+    return np.asarray(weights, dtype=get_global_dtype())
 
 
 def compute_weighted_pose_penalty(diff: np.ndarray, weights: np.ndarray) -> np.ndarray:

src/unilab/envs/locomotion/g1/motion_tracking/math_utils.py

@@ -50,9 +50,9 @@ def quat_conjugate(q: np.ndarray) -> np.ndarray:
         Conjugate quaternion(s) (N, 4) or (4,)
     """
     if q.ndim == 1:
-        return np.array([q[0], -q[1], -q[2], -q[3]])
+        return np.asarray([q[0], -q[1], -q[2], -q[3]], dtype=q.dtype)
     else:
-        result = q.copy()
+        result = np.asarray(q.copy(), dtype=q.dtype)
         result[:, 1:] *= -1
         return result