Allow batch computations for jacobian with pytorch#75

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evelyd wants to merge 3 commits intoami-iit:mainfrom evelyd:batch_computation

+135-50

Commits on Apr 5, 2024

vectorize jacobian calculation
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Commits on Apr 22, 2024

fix joint jacobian logic
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Commits on Apr 26, 2024

allow vectorization of jacobian dot function
evelyd
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