Don't use `Any` type in API

[codekansas]

We should use proper typing for the user-facing API commands, like this:

    def command_actuators(self, commands: List[Dict[str, Any]]) -> List[common_pb2.ActionResult]: ...

Instead of having Any type (which makes it hard to remember what commands to provide) we should use a TypedDict

from typing import TypedDict, NotRequired

class ActuatorCommand(TypedDict):
    actuator_id: int
    position: NotRequired[float]
    velocity: NotRequired[float]
    torque: NotRequired[float]

...

    def command_actuators(self, commands: List[ActuatorCommand]) -> List[common_pb2.ActionResult]: ...

We need to do this for the entire API.