Replaced numpy constants by math constants

update doc

Fix for torch 1.6 compatibility

Use torch.where instead of boolean indexing to avoid graph breaks

increase version number

Merge branch 'nikonikolov-niko/generator'

enable using generator

Changes for compatibility with torch 1.6 & Github workflow update

v1.5.5

Update github workflows

Fix file permission

Added autocast decorators for special_procrustes

Update doc

Added identity and identity_like

Fix default linear in Isometry constructor when batch_dim==0