mimicry mode

[JonathanSpraggett]

https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit?tab=t.0#heading=h.2ye70wns7io3

find pybullet function to read joint angles

then write code to take joint angles and create/append to a csv

then do it in ros. read joint angles from ros