Major Updates

• Temporarily fixed a bug for vmap by @fantaosha in #562
• fixed a bug in prismatic joint by @fantaosha in #568
• Added fallback for implicit mode if Gauss-Newton fails in the last step by @luisenp in #579

Other Changes

• Allow Python version to be passed to build script by @luisenp in #567
• fixed the rotation and translation order in pgo datasets by @fantaosha in #560
• Added Profiler util by @luisenp in #571
• Prevent update variables with device or dtype != Objective's by @luisenp in #570
• Bump torchkin version to v0.1.1. by @luisenp in #572
• Removed semantic version dependency. by @luisenp in #574
• Fix error in torch Lie API example. by @luisenp in #575
• Add urdf_parser_py fallback import by @luisenp in #576
• Add flake8 copyright by @luisenp in #577
• Fix broken sksparse install in CI by @luisenp in #582
• Bump version to 0.2.1 by @luisenp in #583

Full Changelog: 0.2.0...0.2.1