Record G1 for sysid

we need to record

inputs (Twist) -> global_pose

Global pose will come from pointlio as it's good enough for now.
we need a walking policy our G1 uses working in mujoco, and then we need to replay twist in mujoco

recorded inputs (Twist) -> Model -> sim global_pose

get this running, and we will compare real global pose to sim global pose and tune knobs in mujoco until we get it close to reality, issue to figure out here is how to have twist and global pose timestamp aligned (we need to know how pose changes based on twist inputs) I guess this isn't an issue since it's all passing through or running on the same machine

feel free to do this in a messy way as long as data is good, and we will sort it out later.

there is no need to use any existing dimos mujoco stuff, feel free to import your own

example, green box is real world global_pose (yours will diverge much more pre-tune)

https://github.com/user-attachments/assets/4033c11e-8314-42ce-a3c4-4304219821c3