🚀 The feature, motivation and pitch

Hey pypose-maintainers,
I used pypose's 3D interface for a few projects, thank you so much for this awesome library!

In one of my recent projects I wanted to test my ideas on a simpler setting and thus, decided to implement a 2D version of the problem using pypose to represent SE(2)-poses. Unfortunately though, I realized pypose did not explicitly include the 2D case. As I was used to the pypose ecosystem, I decided to copy and adapt a few of the current 3D files to 2D, e.g. implementing a SO2_type, etc. I wanted to ask if there is interest in such an extension of the library. If yes, I am happy to start a PR and dump mt current state and then work together on a fully integrable solution.

Looking forward to your thoughts!

Alternatives

For working in 2D, one could obviously still use the full 3D interface and implicitly reduce the dimensions. Nonetheless, I think a native 2D solution is beneficial.

Additional context

Previously I worked quite extensively with jaxlie which offered an interface to 2D.