Remove explicitly setting torch.float32 as the dtype in urdf_utils.py functions

[thomasweng15]

I was getting an error for torch tensor types that was fixed by eliminating explicitly setting torch.float32 as the dtype in urdf_utils.py function calls.

test_devices.py passes with these changes.

[thomasweng15]

Tagging @exhaustin @fmeier

I ran the pytest suite and verified that all tests, not just test_devices.py, still pass.

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