Add 'jaxgym' package and ErgoCub environment

.gitignore

@@ -1,3 +1,7 @@
+core
+*.pickle
+*.zip
+
 # IDEs
 .idea*
 

.vscode/launch.json

@@ -0,0 +1,16 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Current File",
+            "type": "python",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+    ]
+}