Introduction of DynamicsRecording data class instance.

- Introduces the DynamicsRecording data class instance to generage datasets of motion of symmetric dynamical systems, with all the symmetry related groups and representations information needed.
- Introduces new datasets of recordings of the Mini-Cheeath robot.

.gitignore

@@ -17,3 +17,5 @@ output/
 
 morpho_symm/robot_harmonic_decomposition.py
 /morpho_symm/experiments/
+
+.vscode/

morpho_symm/cfg/robot/mini_cheetah.yaml

@@ -34,4 +34,8 @@ reflection_Q_js: [ [ 1,-1, 1,1, 1,1, 1,-1, 1,1,  1,1,  1,-1,   1,1,   1,1,  1,-1
 # Since for continuous joints the dimensions of the position and velocity coordinates differ, we need to define the representation for the velocity coordinates.
 # TODO: This should be automated.
 permutation_TqQ_js: [[3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8],   [6, 7, 8, 9, 10, 11, 0, 1, 2, 3, 4, 5], [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]]
-reflection_TqQ_js:  [[-1, 1, 1, -1, 1, 1, -1, 1, 1, -1, 1, 1], [1, -1, -1, 1, -1, -1, 1, -1, -1, 1, -1, -1], [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1]]
+reflection_TqQ_js:  [[-1, 1, 1, -1, 1, 1, -1, 1, 1, -1, 1, 1], [1, -1, -1, 1, -1, -1, 1, -1, -1, 1, -1, -1], [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1]]
+
+# 4D-Representation permuting the set of elements, associated with the legs kinematic chains
+permutation_kin_chain: [[1, 0, 3, 2], [2, 3, 0, 1], [0, 1, 2, 3]]
+reflection_kin_chain:  [[1, 1, 1, 1], [1, 1, 1, 1], [1, 1, 1, 1]]