Add Aliengo cfg

.gitignore

@@ -19,3 +19,5 @@ morpho_symm/robot_harmonic_decomposition.py
 /morpho_symm/experiments/
 
 .vscode/
+
+*.pkl

README.md

@@ -137,6 +137,7 @@ This script functions as an introductory tutorial showing how we define the repr
     <th align="center"> Baxter </th>
     <th align="center"> Solo </th>
     <th align="center"> A1 </th>
+    <th align="center"> Aliengo </th>
     <th align="center"> HyQ </th>
     <th align="center"> Anymal-C </th>
     <th align="center"> Anymal-B </th>
@@ -180,6 +181,10 @@ This script functions as an introductory tutorial showing how we define the repr
       <img src="docs/static/animations/a1-C2-symmetries_anim_static.gif" alt="Morphological symmetries a1 bipedal robot, State symmetry, Discrete Symmetry Group"
           width="200" height="200"/>
     </td>
+    <td align="center">
+      <img src="docs/static/animations/a1-C2-symmetries_anim_static.gif" alt="Morphological symmetries a1 bipedal robot, State symmetry, Discrete Symmetry Group"
+          width="200" height="200"/>
+    </td>
     <td align="center">
       <img src="docs/static/animations/hyq-C2-symmetries_anim_static.gif" alt="Morphological symmetries hyq quadruped robot, State symmetry, Discrete Symmetry Group"
           width="200" height="200"/>

morpho_symm/cfg/robot/aliengo.yaml

@@ -0,0 +1,12 @@
+defaults:
+  - base_robot
+
+name: a1
+
+hip_height: 0.4
+
+group_label: C2
+# QJ: Joint Space symmetries____________________________________
+permutation_Q_js: [[3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8]]
+# Reflections are determined by joint frame predefined orientation.
+reflection_Q_js: [[-1, 1, 1, -1, 1, 1, -1, 1, 1, -1, 1, 1]]