Hi, thanks a lot on your answer!
I am indeed flexible since I am working in simulation and able to generate data. The input features, for now, are mass, inertia, size, and some others I am thinking about related to the motors of the robot.
Regarding temporal/spatial data, if I understand what that means, I am not looking at the evolution of the robot in time and neither depending on its position in space. The robot simulation is starting again and again and the robot is always in the same initial state. I plan to change that in the future. However, for what I need now I think it is enough. Is it what you meant or should I tell you something else?