Understanding how the Lie algebra G2 arises in nature

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I'm trying to understand these notes on G2. But I don't understand the very beginning.

I have no background in physics at all. What is meant by a "configuration space?" I looked on wikipedia but didn't understand anything. What is meant by TQ? What is meant by a distribution in this case? For me, a distribution is a linear functional on some vector space of continuous complex valued functions on some manifold.

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