[wip/morse] Bumped to 0.2.1 - Bugfix release

Changelog:

- Correct the length of the kinematic chain for arms
- Correct function to limit angles to (pi, -pi)
- Correct the rotation of platine relative to robot
- Update to fix the directions of the rays (SICK sensor)
- No longer do the transpose of the rotation matrix (-> Blender 2.5)
- Link gaussian module with the right libpython
- Make sure to use python2 interpreter when calling sphinx-build

- Documentation update in several places

While here, commented unsupported ROS option.